This following is a technique I use and is likely pretty common. Since I'm new to the forum I haven't had a chance to read too much on techniques yet, so I apologize if this is standard stuff. Anyway, I find that what I call "writing mantras" work pretty well. Pretty much I get out the pad of paper and a pen before going to bed and I write over and over such lines as:

"Tonight I'll have a lucid dream." OR "Lucidity comes to dream land tonight!"

I'm right-handed, so to create a little dream-like spice to the "mantra" I'll use my left hand when writing. This, I feel, adds a little wackyness to the activity and mimics the wackyness you might encounter in a dream.

So much for that.