I always go to bed about 30min earlier than what I plan on falling asleep. In this time I tell my self "I lucid dream" and I go through what I do in a lucid dream. I think how I first stabilize by touching and seeing this and using all my senses. Than I think what particularly I plan on doing in my next Lucid dream. Than as I get more tired I tell myself that I am about to be dreaming and I will remember to do a reality check and notice anything weird.