From Wikipedia:
Cultivating the dreamer's ability to be aware that they are dreaming is central to both the ancient Indian Hindu practice of Yoga nidra and the Tibetan Buddhist practice of dream Yoga. The cultivation of such awareness was a common practice among early Buddhists.[7]
Early references to the phenomenon are also found in ancient Greek writing. For example, the philosopher Aristotle
wrote: 'often when one is asleep, there is something in consciousness
which declares that what then presents itself is but a dream'.[8] Meanwhile, the physician Galen of Pergamon used lucid dreams as a form of therapy.[9] In addition, a letter written by Saint Augustine of Hippo in 415 AD tells the story of a dreamer, Doctor Gennadius, and refers to lucid dreaming.
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