This technique works very well for me, Thanks G'd.
Have you ever heard about the "Grabovoi numbers"? I don't know much about the guy, but the lucid dream code works out, it lead you to the frequency of lucid dreaming.
This is the code for becoming lucid in your dreams: 89 10 48.
Memorize it, write it down, visualize it, think about this number all day long as a mantra. Do the usual wake back to bed, keep thinking about the code. You may combine it with other methods as well. Good luck and may you have sweet lucid dreams