That's 'Lucid Dreaming' Lesa... and yes I've been able to do that a few times...
I had a lovely dream the other night... was waiting at an airport for my bf to arrive... he finally did, we talked for a bit... and then one thing led to another... clothes being cast aside... inhibitions and shame eagerly stripped away... and right there on the floor... infront of everybody we went at it...
The dream ended with the airport security rushing in...
I woke up laughing...
"The weakest soul, knowing its own weakness, and believing this truth that strength can only be developed by effort and practice, will, thus believing, at once begin to exert itself, and, adding effort to effort, patience to patience, and strength to strength, will never cease to develop, and will at last grow divinely strong."
- James Allen