Self hypnosis is an excellent way to enter a very deep state of relaxation, and is very similar to other forms of mediation except that you would probably give yourself more mental suggestions than you would if you were just mediating. For example, you could think to yourself, I am going deeper, deeper, and deeper. As I count backwards from 10 to 1, I will enter a very deep state of relaxation. Probably the best way to learn it would be to go to a bookstore and buy a good book on self hypnosis.

What is better than self hypnosis though is regular hypnosis, although you would need another person such as a spouse or mate interested in this to help you with this. And it would be adviseable to work with someone you trust. With regular hypnosis a person can be taken very deep and easily leave their body. Many years ago when I was into hypnosis, I used to be able to get a person into a deep trance in about 3 or 4 minutes, and then have them out of their body in less than 10 minutes. I eventually gave up on this though to just mediate as I never found anyone interested enough in it that could help me do the same.

So in answer to the question. Yes, self-hypnosis would be an excellent method for achieving lucid dreams. There may even be some cassette tapes or CD's out there now with induction talks on them that a person could listen to in order to obtain this state which would be very similar to be hypnotized by a hypnotist and which would be safe.