You can choose from 2 main induction techniques. WILD - wake initiated LD and DILD - dream initiated.

In WILD, you basically fall asleep, while you keep your mind aware, untill dream forms and you can enter it.
In DILD, you fall asleep normally and once dreaming, you realize you dreaming and become lucid.

Please check out classes in DV Academy, they will help you pick. But in general, DILD is recommended to start with. Happy dreams