Obviously, confidence is the most important element here. If you are having trouble, then I would suggest incorporating this goal into your reality check and/or awareness routine by taking time out of the day to remind yourself that you can and will do anything you want in your dreams, including summoning.
I personally prefer to teleport to a location where I am fully expecting to find someone; usually I have a dream planned out in advance. When I was starting out I found that calling the person's name was helpful. All sorts of things can go wrong, but I will not mention those here. You should always think that things can never go wrong, so do not over-research the topic; it can cause you more trouble in the end. Opening a door and pulling a person through seems to be a popular beginner technique as well.
My method? Meditation. During the day I take the time to plan out my loftiest LDing goal and meditate on it; putting myself into a scene and making it as real as possible for 20 minutes or so. There is usually a person in the scene, and I focus on that person within the context of the scene, making things flow intuitively in my mind. Come dream time, I either teleport or fly to this place when I am ready. This also helps with meditation, concentration, visualization, imagination, and it creates a sort of index of dream scenes that are so ingrained that I never run out of ideas when lucidity arrives unexpectedly. For starters, focus on one person in a particular scene, and use this one scene until it becomes easy; this way if you ever have trouble later you can always return to "home base". It's all a mental trick based on expectation of course, but it works.
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