question about lucid dreaming

Lets say i was trying to do the WILD technique or whichever one thats just plain trying to go straight into lucid dreaming. Do you HAVE to wake up and then try to do it, or take a nap before, or is it possible to get into a lucid dream just by going to bed at a regular time without sleeping in the past couple hours? I dont exactly like the idea of waking back up to do it, I mean I could, but i was just wondering if it was possible.

I posted almost an exact clone copy of this question earlier. From my responses i got no, it isn't here is the thread, check it out.

http://dreamviews.com/community/showthread.php?t=38914

Thanks. Damn I really dont like napping or waking back up to do it but i guess i'll have to. Naps really screw up my sleep schedule and so does waking back up sometimes but i guess i'll try it.