There are better times than others to try to attempt lucid dreaming. Dreaming, in general, usually occurs during the REM stages of sleep. During REM, the body goes into sleep paralysis and the eyes move around.
pic source: holistichealthinsider.com
As you can see in the graph above, REM occurs about every 90 minutes and each REM phase is longer than the one before it. This is why it is suggested that you wake up in the middle of the night and go back to sleep to try for a lucid dream. The goal is to find yourself within or close to an REM stage when you try to lucid dream.
They say that naps are purely REM, which is why you may be successful trying to lucid dream during a nap. I don't really understand that concept, though. But it is true. I've been most successful at WILD during naps.
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