Methods for lucid dreaming are many. And people have all sorts of different success with different versions. I've combined what works best for me into a 4 step process.
The steps are simple. The goal for Lucid dreaming methods is to slip into unconsciousness while retaining some degree of awareness. Usually, I:
1. lie on my back in a starfish position. My limbs do not touch any other part of my body, my palms are up, and my feet are wherever they feel comfortable. I am allowed to move during this time- 2ish minutes- until I naturally reach a calmed state.
2. Breathe slowly and deeply, entering a heavy state of relaxation. Eventually my body starts becoming numb, and it feels like I'm not physical(for brief moments). Focus on breathing for a good 15-20 minutes. The goal is to try and let your body fall asleep, but keep your mind awake. DO NOT MOVE. The less you move(fingers, tongue, eyes, toes- any body part) the faster you will reach a deep state of relaxation. You will feel itchy, this is normal. Your brain is asking "Are you awake?" It's your job not to answer.
3. Retain consciousness. I used to imagine my dream, but I've found that another strategy works better. Watch the blots on the back of your eyelids, and slowly imagine them taking shapes. Try to control these shapes and form them into different things. If they are moving one direction, try inverting them. Then form circles, squares, triangles- then move on to objects.
4. Usually during step 3 I fall asleep, and enter my dream. Because I was conscious so late into my REM cycle, becoming aware in a dream is no longer that hard of a task. However, if you are still awake: Use the shapes you have been creating to form the dream world around you. Imagine how it looks, smells, feels... all of it. I would suggest to simply fall asleep at this point, although there are methods that urge you to create a door/portal to step through. Whatever your decision, the goal is to fall asleep now. You can recite your goals when you lucid dream once more, to keep it at the front of your mind.
Once you enter the dream, the moment you realise it is a dream, shout "THIS IS ALL A DREAM!" I do this whenever I can, since it amplifies my awareness 1000%. I swear on my first time, I did this and could feel my eyelids close. It was crazy real.
Thanks for reading!