J H Brennan is the author of Astral Doorways, a book of AP techniques. It was one of the first books on the subject. This is a video explaining his first experience. It's very interesting. Been many years since that first book, and I was surprised to find the author on youtube.
http://www.youtube.com/watch?v=O6zHbeMhuRA&feature=youtube_gdata_player
Here is his book
http://www.amazon.co.uk/Astral-Doorways-Techniques-Experiencing-Possibilities/dp/1870450213
Glad to have been able to watch the interview, thanks. Is there anything special about his book that sets it apart from all the other AP literature?
Adepto, his book is written from a western occultism perspective. It is really geared towards wake induced astral experiences, and from memory I think there is nothing in there about lucid dreaming, sleep paralysis etc. The techniques as I recall involve for instance "building the body of light" ie creating an astral thought form, and then transferring your awareness to it. The body of light can be anything, a person, an animal etc. So the techniques are tough and involve a lot of work.
A similar, probably better book along the same lines is Ophiel's book "The Art and Practice of Astral Projection":
http://www.amazon.co.uk/Art-Practice-Astral-Projection-34/dp/0877282463/
Ophiel does include a chapter on lucid dreaming, along with a number of other techniques. Both of these books were written in the 1970s, when astral projection was still generally unknown to the public at large, and the techniques were more esoteric. They are interesting reads, but the techniques are quite difficult and need a lot of practice.
By the way, do read the Amazon reviews, people either love or hate these books, love them in that they are interesting and hate them in that they seem to contain "unprovable mumbo jumbo". I can sympathise with all of these views, but they are still classics, and not to be dismissed too lightly.