I've finally had some success with a MILD routine - I do it as part of my bedtime routine, as well as whenever I happen to wake up.
This is what I do: I go to sleep when I'm tired, get all comfy, relax and let go of my concerns. As I relax more deeply I visualize myself back in a recent, interesting dream, and as LaBerge suggests in his book ETWOLD, I relive the dream in my head and tell myself that the next time I'm dreaming I'll remember to recognize I'm dreaming, and then I imagine myself becoming lucid in that dream. Then I imagine doing what I'd like to do the next time I'm lucid.

I repeat the process for other recent and favorite dreams, so by the time I fall asleep I've visualized myself becoming lucid in a variety of dreams. And again, I do the same thing after waking up in the middle of the night or early morning, which is actually how I got my first lucid. I really enjoy the process, I have a LOT of fun with it and I look forward to it each night. Inspired by arby, I visualize everything really vividly, and I imagine using all my other senses as well.

Hope that helps. It's not the least bit new or revolutionary, but it seems to be working for me so I'm running with it, and again, I really enjoy the routine.