Lucid dream, "is when a person is aware that a dream is happening and can sometimes influence events within it."
But you "could" lucid dream if you try,
a) setting an intention b) writing it down and repeating a mantra before you sleep c) If you catch yourself lucid dreaming then remind yourself what you wanted to do in your dream and d) after you wake up, write down your dream.
Seems like a fun experiment but there is no suggestion of any significant health or other benefits.