Hi Melissa,
I think if you catch yourself lucid dreaming and can wake yourself up without waking your body up (you'd find yourself in sleep paralysis) you will be in an ideal state to be able to leave your body consciously. (I'd focus mentally on the ceiling and once I find myself there get far from my body to avoid going straight back) Hope that helps, I don't have experience of being able to go straight from lucid dream to AP