one thing that works really well is this
you have to be super tired, then you go to bed and lay on your back. you are about to fall off to sleep so you want to turn over onto your side, but you may not. you must stay frozen on your back. this will keep you awake enuf to have a small lucid dream. tell youself at that point, i am dreaming, i am dreaming, and look at your hand in the dream. its worth a try, it worked for me last nite.