I have had multiple lucid dreams every normal week (boot camp didn't count) for fifteen years. When I attempt to have them I have a 80-90% success rate. I have had lucid dreams that lasted for 6-9 hours. I developed the ability naturally, with no advice. I didn't know anyone else had the ability.
Why am I bragging?
For credibility. I cannot stress the following advice enough:

I developed the ability to lucid dream through exploring those states in between wake and sleep. I would devote an afternoon or a morning and hang in between those states and study them. I think one of the most solid ways you can develop these skills, even if it may not be the fastest way, is to become comfortable with those states when you are barely asleep or barely awake. Bend the envelope. Stretch the boundaries. Play with your mind.

Don't worry about having lucid dreams. Just explore. Study. Play with those hypnogogic images. Become comfortable with those states of consciousness, because lucid dreaming will happen a lot easier when you have started to open your mind to those states, and become accustomed to them.