What worked for me was making it a habit to 'reality check' (looking at my hands/fingers, doing a double take on a clock) every day for several weeks. Then, ent

What worked for me was making it a habit to 'reality check' (looking at my hands/fingers, doing a double take on a clock) every day for several weeks. Then, entering a lucid dream state worked best when taking an afternoon nap, or waking up a couple hours before my usual wake up time and going back to sleep after a brief period of mild activity.