In 35 years of handling and shooting firearms I have never had an ND. I attribute this to the kind of devotion to the rules and procedures of safe gun handling that sometimes irritates other people but I don't care if they think me pedantic with regards to safety, it has served me well so far.
I did have one hangfire that scared the hell outta me by going off about 5 seconds after I pulled the trigger, but did no damage because I followed proper safety procedure.
I watched someone at a range (The NRA range of all places) finish shooting a string, point his gun down with finger still on the trigger and then discharge a round about 3 feet from his own foot which then bounced up and shattered a ceiling light. He got to pack up his stuff and received a brisk escort out.