Most consistent way of achieving it I've managed is use a watch with an alarm that vibrates and is trivial to turn off or turns off by itself, then set it to go

Most consistent way of achieving it I've managed is use a watch with an alarm that vibrates and is trivial to turn off or turns off by itself, then set it to go off after sleeping 5-6 hours. When waking up, don't move and focus on the black behind the eyes, then after a few seconds it may turn into a dream and you go straight from waking into a lucid dream.