I did not have a long battle to obtain lucidity...However, I do have some techniques you can try to use in order to help yourself have a lucid dream...

Meditation before sleeping...There are a couple ways to meditate and so it would be your assignment to figure out which way is right for you.

Meditation is the act of calming your mind and focusing on an object, place, or thing. If you want to learn how to meditate, googling it is the best option to find out what works for you. I suggest googling something like, "meditation techniques" in order to pick the best option.

What works for me is listening to "trance" music. It is usually instrumentals and no talking in it.

Some other meditation techniques include:
1) Sitting in a cross legged position or comfortable position for 30min, focusing on a happy place or thing with your eyes closed...
2) Walking meditation:: walking meditation is where you focus on walking in a line back and forth and focusing on a "happy" place or thing. This is similar to paceing...for 30min...eyes open of course!
3) Listening to trance/instrumental music

These are the three different techniques I have tried that work for me. Try them and let me know how it goes!

Sincerely,
~Icy