I have been using the WILD technique for lucidity, and i have had a couple of really vivid ones. But i am having trouble with getting back to sleep after 5/6 hours as i get restless and too awake, sometimes i even get headaches. What is the best method to use that does not require waking up after 5/6 hours? Any help/suggestions appreciated. 
You dont have to go to sleep righ off.If you have a time have a 2hrs nap some time during the day.I can assure you its even better for many ppl than a short break:)
Many,many lds take place on the afternoon nap:)
good luck
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