I know everyone is different and different things work for different people but here is the #1 way for me to achieve lucidity.

You will need a decent amount of time set aside for sleep to do this. Set your alarm for 4-6 hours after you go to bed. Your alarm goes off, make sure you go to the bathroom, get a drink or a snack, whatever you need to relax again. Then just spend 30 minutes to an hour and read about lucid dreaming. I have Lucid Dreaming by Robert Waggoner that I read in bed when I want to become lucid. The internet works too but it can be a little distracting. The hard part is actually getting out of bed and spending the amount of time needed on reading.

I have done binural beats, massive amounts of reality checks, meditation, all kinds of other techniques. Nothing works as well as just getting accustom to the dream world and studying dreams. You need to put lucid dreaming in your sub conscious in order to become lucid and I think reading does that the best.

I have read through most of the book but when I wake up to read it I can just pick a random area and start reading, it doesn't really matter what I am reading about. The times I don't become lucid are when I have a lot of trouble getting back to sleep, don't spend enough time reading or just don't get up at all. When I get into the dream I just kind or realize I am dreaming with no reality check or any other clues.