The easiest way to lucid dream, I think, is to keep a dream journal, become familiar with your common dream signs, get in the habit of doing reality checks during the day, have a mantra while going back to sleep (visualization is good too), and to help with focus you could do meditation.
Once you begin having lucid dreams you'll need to practice stabilization and dream control.
All of this takes a good bit of practice and it might still take a while to have a satisfying lucid dream. But it's totally worth all the effort, so I hope this doesn't dissuade you.
Stick around on the forums, everyone's really helpful and there's lots of tips all over the place.