Relax yourself as much as you can but don't allow your brain to bail on you and fall asleep. When you begin to HI (If you don't know- hypnagogic imagery when you lightly notice images and shapes appearing, like in a dream but not as vivid)
Slowly take the images you see into a real perspective of yourself- imagine you can see what you would be able to see if you had your eyes open.

Without moving your body- (dream it, don't do it ) roll onto your back and look up to your ceiling. Imagine there is a ladder or some kind of rope dangling above your head. Reach up slowly and take hold of it, from there pull yourself up and climb the ladder/rope and keep climbing.

Read up some stuff, loads of tutorials say similar things to that.

Jim.