If you realise that you are dreaming during a dream then that dream becomes a lucid dream.
After reading four books devoted mainly or entirely to lucid dreams, I can recommend this 197 page book as giving a good general introduction. The other three books I read were:- Lucid Dreaming, by Stephen LaBerge; Exploring the World of Lucid Dreaming, by Stephen LaBerge and Howard Rheingold; and The Tibetan Yogas of Dream and Sleep, by Tenzin Wangyal Rinpoche.
This book is specially strong on the history of acceptance of such dreams. Although lucid dreams have been described sporadically for many hundreds of years, until the 1980s most sleep and dream researchers dismissed the possibility. Such 'dreams' were explained away as brief awakenings from sleep and of no interest. Vivid dreaming occurs during a stage of sleep associated with rapid eye movements , (REM sleep). During REM sleep most voluntary muscle is paralysed, but not eye movement. In 1975,at Hull University England, Hearne and Worsley demonstrated that Worsley could repeatedly signal that he was having a lucid dream with eye signals, while his brain waves confirmed that he was asleep. Hearne had some difficulty getting his research published: in 1977 he delivered a paper but the scientific establishment resisted accepting his results, though his PhD thesis was published by Liverpool University in 1978. LaBerge, in California, independently figured that eye movements gave a method of signalling lucid dreams and was able to demonstrate signals from a lucid dream in 1978; again attempts at publication were frustrating. By 1981 LaBerge and colleagues had accumulated so much data supporting lucid dreaming that the topic gained widespread scientific acceptance.
If your main concern is to have the maximal help to experience lucid dreaming as soon as possible , I would advise reading first Lucid Dreaming by LaBerge.