You know, get lucid, change something, than lose it. The best way to do it is just to ask a dream character “now what” and get into their game. I mean, if they say “lets fight dragons” you reply “alright, but oooh, I’m afraid of dragons” and then they reply “but you’re the best dragon fighter in the world,” you say “wait… am I?” and by that point you have already lost lucidity. Just get back into the dream.
Also, don’t use the staying lucid techniques: don’t rub your hands, don’t repeat mantras to stay lucid, don’t pay attention to everything. Act as if it didn’t matter you that much that you were lucid. Or just ignore the fact that you are.
Well, if you wan’t to lose lucidity and wake up really fast, closing and then reopening your eyes does the trick for me, when you open your eyes you’re awake.
As for losing lucidity without waking up? I couldn’t say, because whenever I’m lucid, if I lose lucidity I always wake up, I never drift back into the dream.
LaBerge recommends staring at one object intently.
This will not phase you back into a normal dream, but wake you up.
I haven’t tried it yet, but from what I understand very helpful if you really want to remember something.