Remember that lucid dreaming is about dreaming right. Your dreams are more frequent in the mornings about 3 -7 am depending on the person. This is the time when you want to induce lucidity. I think if you time it perfectly, by waking up at the beginning of a REM cycle that you can very simple induce lucidity by concentrating. When you lay down its not just about being completely still. You need you concentrate on your breathing , slow and deep. There is a very scientific reason for this.

Deep slow breathing increases oxygen saturation in cells and reduces your heart rate. Not to a unsafe rate, It is more a controlled relaxation. This relaxation is important because you want to be able to be awake and concious at the point when your brain decides that is wants trigger its paralyzing effect that occurs during sleep ( this is the part that prevents muscle action ) If you are awake during this phase you should experience sleep paralysis. It can be quite a scary thing and even after doing for a while its still not a very cool feeling. You feel very out of control of your situation. A lot of people can not actually get past this point. Its hecktic and not something that should be taken lightly. If you can drift off after you make a very concious choice to do so you should enter the dream world with full control. You should be falling straight into REM. This is hard because its really hard to tell what stage of the REM cycle you are in when you wake up. If its near the end it might not work .

This is a enter into dream with lucidity method. I find this to be the best method. Sometimes dreams as they are , are really cool and you just go along with the flow , you just enjoy the dream and dont really get to a point where you can contemplate lucidity , the only time i can think of is if it is a proper nightmare or if it is recurring. Otherwise dreams as they are , are pretty damn cool too. I enjoy everything about the dream reality