I MILD frequently, often accidentally after writing down a dream during the night.

I've gotten into the habit of waking after pretty much every dream so I can write down some quick notes to help me remember it better later.

What I do follows:
1. Before bed, focus for about 5 min. on my goal to have vivid lucid dreams. Go to sleep.
2. Sleep for a while. After about the 3rd dream write them all down. Stay in bed. Day dream for a while about them, about what I would have done if I'd been lucid. Drift off to sleep.
3. Find myself in one of the dreams I just had. Think, hey, I did this already! and become lucid. Go on from there. OR find myself in a new dream, but lucid.
4. Repeat during the night as desired.

For me it works about 5 out of 10 times to return me to a previous dream, only lucid this time. But for just causing a LD, it works about 8 out of 10 times. On a good night I will induce as many as four MILDs successfully.

Because I usually don't do a WBTB too, I end up loosing very little sleep. Usually only a few minutes for the whole night, because I fall back to sleep so quickly. It is almost a mix between a DEILD and a MILD for me.