I started having WILD's years ago unintentionally (see my other post). Seems others are having trouble. If I follow these steps I will have a WILD just about every time.

-sleep for at least 4 hours
-wake up COMPLETELY and do something (like read, go on the computer) for at least one hour; your mind must be very active
-go back to sleep and relax and think about something enjoyable; keep your mind busy
-when you start to get drowsy again (if you're like me it takes a while) prepare for WILD
-get very comfortable and don't move; use earplugs so you can concentrate on your heartbeat and on the patterns on the back of your eyelids
-think about motion - roller coaster, driving a fast car - really try to feel it
-stay relaxed!!!
-you may hear sounds and see colourful patterns; stay relaxed - you're close
-your thoughts may waver, go back to the part about thinking about motion
-you will start to see textured patterns, feel like you are falling (right at the brink of sleep) and start to hear rushing sounds - do not fight the feeling
-if you managed to get this far you will now be in a lucid dream - if you are like me, usually you will be moving/flying and know you are dreaming or you will have a false awakening, so do a reality check
-I have had the other type of lucid dreams (DILD's) but I find WILD's are much easier to control once lucid

To those who awaken themselves - stay relaxed - remember you are supposed to fall asleep. The key is to snap back to your logical mind once you feel like falling and hear the rushing sound. Perhaps reminding/repeating this to yourself as you fall asleep will help. But remember the point is still to fall asleep but not your logical mind.