I have other way to do it. Never had a goal actually. There exists "God helmet experiments". You can actually buy a prototype from the one of the scientists who was working on experiment. Google "Shiva helmet system". After 3-4 sessions(once a week) I found that I can do lucid dreaming with no training. Moreover I can wake up 5 times at night and return back to the same dream without efforts. P.S it not advice or ad or proposals, I share my personal experience.
Keep a dream journal and make repeated efforts at reminders during the day and before sleep.
Which reminds me: you could use lucid dreaming to focus on work tasks and try to recover hours of lost productivity each night.