I have some personal methods for this that might work for you. Usually when I WILD the dream appears directly in front of me--that is, I'm just above the ground looking directly ahead. When this happens, imagine that you're already in the dream, but you're sort of just floating around. When you feel you're ready and your body has fallen asleep, imagine you sort of jump/walk to the ground, and once you feel your feet against solid ground, you know you've entered the dream.
Sometimes another thing that happens to me is that the dream scene is less around the ground and more of a panning bird's eye view (like from a helicopter or something). Two things I do to get around this is to sort of float (zoom in) towards the ground until I'm near it and then do the exact method I mentioned in the above paragraph, but another possibility is to 'summon' yourself on the ground, and then float towards and inside your body.
I've also heard of some people who simply focus on a spot in the dream scene and say "I am there," and similar things like that.