I recommend you start off with this MILD technique, and follow what it says. You can do it with your mantras, and if you keep at it, will work. Also remember to be confident! You can lucid dream, you can have complete control, and you can remember all of your dreams! Expect something to work in a dream, and it will. If you are having trouble with a certain type of control (Flying, teleporting, etc) then just message me and I will help you. Good luck!

P.S. If you think MILD isn't the right technique for you, look here, and find a technique that would fit you best. Also you need to work on your recall before you start any technique, if it isn't good already.