This is the technique he uses to get a lucid dream pretty much every time he wants. It goes like this:

OK, so he starts by getting into that sleepy state (like just relaxing and everything.

Now he repeats "Lucid dream, lucid dream, lucid dream" over and over... etc. for like a minute or two.

The next part is to think about things you are going to do in your dream, like visulize it until you fall asleep. When you think you are in a dream (or know) do a reality check and then... you know what

He says he just changes what he thinks into a lucid dream instede of thinking about what he is going to do the next day or whatever.