it's not that easy: first of all you need to know the difference between a lucid dream and outer body experience (OBE). The last one would be more that what you described danny, while in a lucid dream you are just simply concious about the fact that you are dreaming, which leds you manipulate your own dream in certain ways.
I'm sure that once you got the hang of it it's kinda easy, but I still had one real lucid dream since I started training it. All other attempts failed by sudden wake-ups