This is a variation of MILD. I tried it the other night and had the most success so far.

Soon after initially going to bed, starting thinking about lucid dreaming. Imagine becoming conscious in a dream, how that will happen, et cetera. Think about past dreams. Imagine what you would do upon becoming lucid. Think about how you would work to stay conscious, how real it would seem, you get the picture. Don't think about how much you WANT the lucid dream, just think about the dream itself. Just imagine that you're dreaming right now.

After picturing all this in great detail, forget about it. Let it go, let yourself fall asleep. Think about something else, or better yet, think about nothing at all. In most other MILDs, you're supposed to keep thinking about lucid dreaming; you're supposed to convince yourself that you'll LD. That's where this differs. The point is to not try, to not worry, to not want, to let it come to you.

Anyway, this seems to work well for me. Try it out.