I learned how to lucid dream regularly and taught a few others.

These are the things that work the best:

1. Record or note down your dreams right after you wake up.

2. Put an alarm clock every hour or so and do a reality check: cover your nose and try to breathe (in dreams it works), turn off and on a light (in dreams they don’t work very well), see yourself in a mirror (in dreams mirrors tend to act funny).

3. Repeat a mantra while trying to get asleep. Something like “I’m going to have a lucid dream tonight.”

4. Wake up ~5 hours after you’ve gone to sleep. Recall your dream and then try to go back to sleep repeating the mantra or imagining you’re having a lucid dream (MILD technique).