I do two things. I use the a variant of the MILD method and sometimes I will fall asleep with the intention of having a lucid dream on my mind. I will repeat something about how in my dreams I will realize that I am dreaming. I find this to work ok for me. It depends on how badly I want to have a lucid dream. If I have a strong intent then my chances of having a lucid dream increase. As for the getting lucid part I sometimes find myself battling for control of the subconscious. Other times I will just figure oh hey this is a lucid dream. I used to keep a dream journal thinking that alone would make me lucid dream but I go so sick of writing down my dreams that I stopped. Now I only write down my lucid dreams.