Best techinique for me, is to wake up half asleep then go to bed (or sometimes it works when you go to sleep normally), then (this sounds stupid) close your eyes and focus on your eyelids (until you feel like your floating, or at least tired) and soon after that you will go into SP (always with a roaring sound for me, but a comforting one, like white noise) which is a pleasant experience in my case .
Then when your in the dream, you can open your eyes and YOU ALWAYS know you're dreaming. But for me, opening your eyes is the hardest part because youre half in control of your body (sometimes) and half in control of your dream body, so you have to imagine opening your eyes if this happens. While you concentrate on this, rubbing your hands together or spinning is also a good idea.
Every lucid I have had is from doing this (about 11 now since joining the forum) but I've tried it every night.
It also dosn't matter if you move after you wake up, to get into a lucid.
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