I've had 2 lucids in the past week(one last night) just from waking up naturally in the middle of the night, going to the bathroom and then getting back in bed. I used to have difficulty falling asleep again, but I just changed the way I thought about it. Now I don't think that I MUST fall asleep again, I just lie in bed to rest. A warm bed is very conducive to sleep, especially if you are resting.
If you are paranoid about not falling asleep, that will definitely keep you awake. Just lie still in bed to rest, whether you fall asleep or not doesn't matter. Don't toss or turn. Enjoy the comfort of lying down and resting. And you will find that you will drift to sleep, even if it may take a while. And then BAM!, you are lucid.
All the best.
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