Hypnosis is the best method of accomplishing any task involving your mind and thoughts.
To lucid dream you must be thinking of your task as and when you fall asleep therefor the outcome results as a dream beggining from the last thought you made and carries on to things that has happened throughout the day usually one thought triggers another. You must be thinking of knowing you are dreaming before you fall asleep. Ever notice when your upset about something or nervous you dream about it the following night? Usually because thats all your thoughts will lock onto therefor you need to make lucid dreaming that kind of thought.
You want to know you are dreaming upon entering the dream.

Like most common hypnotic exercises you must relax first. Use this method which is in the HILD example in tutorials. Repeat "When I count to 5 my relaxation will double" Then count to five then "When I count to 10 my relaxation will tripple." This is a very affective way to enter a trance or deep relaxation. When your body is relaxed and your ready enough to start repeat this to yourself outloud or in your head. "When I count to 10 all I will think of is knowing I am dreaming when and after I fall asleep." Slowly count to ten then repeat "I am dreaming" 3 times in your head to make sure the goal is programmed in your mind completely. Now repeat "I am getting more and more relax" and when your body is heavy and you reach border line sleep level repeat in your thoughts "Dont forget to know you are dreaming." And when you are asleep you will know you are dreaming! This method has not failed me yet. It may seem long but it isn't. This method could become a habbit after 3 ld's and may not need to repeat the following above now I just enter a ld automatically. My mind repeats the steps unknowingly. Kind of like when u wakeup at six and you need to be up 6:30 and your so used to waking up at 6:30, that the next time you wake up its that time, like a timer in your head which tics without ur consent.

Enjoy tell me your outcomes which will most likely be positive.