The technique I use to achieve lucids most often. I havent done any searching to see whether this has been mentioned often or before so forgive me if this is old news.
Oftentimes I realize that I am dreaming right as the dream begins to fade and I am being pulled out of it and back into my body in bed consciousness. At this moment, instead of waking up just play dead and wait patiently to be sucked back into dream consciousness, it is much easier than you think.
So when you know you are about to wake up DONT. As the dream fades play dead and wait patiently, it is very easy to get sucked back into dream consciousness.
When I get sucked out everything swirls into blackness and then I can vaguely begin to feel my own body in bed. I just wait and then I begin to see dream pictures but I am still in my own body. Then the pictures begin to envelope me and the last stage I move into the dream body and can start moving through the world again.