This can be used with most any technique for inducing a lucid dream.

Because many people have trouble falling asleep, I decided to make this tutorial. It's worked every time for me and I hope the same for you.

Preparation
I recommend having a steady sleeping schedule. Be active by exercising out in the sun about every day. The sun's rays will boost your melatonin levels which will help you fall asleep. One can also take melatonin supplements. Exercising also helps.

Comfort
Before going to bed, rid yourself of hunger, thirst, and bathroom urges. Just don't drink too much! I have also heard that taking a warm bath or shower calms you down.

Thoughtlessness
Lay down in the supine position (on your back). Clear your mind of all things. This will take time to become efficient. I've heard some people write down their worries/concerns on paper so they know they won't forget them the next day. When clearing your mind, refrain from internal dialog (talking to your self).

Relax
Once you are comfortable and have no thoughts clouding your mind, it's time to relax. I recommend the 61 point relaxation technique. Once again, this can take some time when learning how to do this, but in time it will be quicker. Start by relaxing all the muscles from the top of your head and work your way down through your arms and fingers. Down your torso, legs, toes, and back up through your torso to the top of your head once again. I usually take 5 to 10 minutes doing this. I strongly urge you to take your time with this step and not to only go through the motions. Continue this process until your eyes are heavy (usually takes me 1 or 2 cycles). When your eyes begin to feel heavy, continue and finish the current cycle.

Note: Sometimes I go into SP (sleep paralysis) while performing this. I simply ignore it and continue with relaxing. If this happens to you, you can experiment with it if you want.

Roll Over
Your eyes are now heavy. If you do not find laying on your back a suitable position to fall asleep in, simply roll over to your side or front. I normally roll over to my side as it is most comfortable for me. Simply maintain thoughtlessness and relaxation. If you have not yet fallen asleep, be sure you have followed the directions and start again from the relaxation step.