I don't know how to lucid dream but idols do show up in my dreams sometimes. They usually hate me...
It’s difficult but it does take practice! Things like keeping a dream journal and noting things the moment you wake up, checking things like time and POV while you’re dreaming can help tremendously(while you’re dreaming you see through your eyes as but you usually can also see behind you and the setting in a 3rd person view, it’s hard to explain), going to bed thinking of a singular thought, etc.
It’s really neat and mind-boggling at least to me but it does take practice! It’s really neat to example parts of your mind that you don’t really practice day to day. Same thing with meditating, astral projecting, etc!