It’s actually not that hard to start having them pretty frequently. I always had that same problem though: I’d realize I was dreaming, say “Wow, I’m actually dreaming and aware of it. This is amaz-” and wake up. There are supposedly tricks you can use to prevent yourself from waking up like spinning around, but it didn’t seem to help even when I remembered to try in the dream.
You can make them more frequent by just thinking to yourself “Am I dreaming?” and checking if you are a bunch of times a day. 5-6 is probably enough. Keep that up for a few weeks and you’ll probably start having frequent lucid dreams. I read that lucid dreams aren’t really that restful compared to normal sleep though, so don’t try to induce them unless you can spare the sleep time.
Feet are like hands we walk on. Right? Complete with a thumb and all!