I have about a dozen books on lucid dreaming. This is the best one. Unsure if they have an audio version. Otherwise it's been a while since I've read anything. I went through a self-help/psychology phase and purchased a bunch of books I haven't gotten all the way through yet. I should read more.
Exploring the World of Lucid Dreaming
This one is generally considered the best. I think it's exactly what you're looking for. I have it and it's helped me immensely.
I'm a Chaote as an introduction to most of the key concepts.
The point being to acknowledge that we create all meaning... and take a more direct role in the creation of that meaning. As a place to start, keeping a dream journal is the "first step" in most books on this stuff. You'll probably start to lucid dream just from keeping the journal, but if you don't this is my favorite resource for that.
I'm an empiricist, and I am continually surprised at how good my brain is at making it seem like something truly magical is happening. Maybe it's not just my brain. Going into any of the actual experiences or what I chose to sanctify will probably just seem ludicrous without context. Magic is very much about personal experience, and it doesn't have the same impact when communicated.
Great book. Must read. Exploring the World of Lucid Dreaming