For me the important thing is to have something to focus on, and pay attention to. Imagine an object, or even a small surrounding (last night I imagined being inside a small cabin) and keep trying to interact with that object, or keep studying it. If you can get to the point that you are actually seeing/feeling the object, or actually seeing your surroundings, you are there.
Pay attention to what is happening just as you are starting to fall asleep. Start seeing if you can prevent yourself from actually falling all the way. If you have an entire morning to waste, I have found that I had amazing progress while simply sleeping in real late, going back to sleep after waking up, but doing so in a way that initiates lucidity. I usually get in a comfortable but unusual position for this. I never sleep on my back, so during these times I lay on my back so that my mind knows that something is different.
By sleeping late in the morning your family may call you lazy, and I admit that it feels like a huge waste at first, but I promise that the few times I did this when I was a teenager set me up for over twenty years of amazing experiences. Sometimes I have lucid dreams that last for eight to ten hours. In the morning I'm always well rested, but I was aware and active the entire time. It's like going on vacation INSTEAD of going to bed. So, in a way, one can actually utilize time that could be considered to be wasted otherwise. Yes, you are sleeping, but you ARE doing things. I've even utilized this time to solve problems at work. I came home stumped by an issue with a server that was acting up, worked on the server in a dream, and using clues I had obtained during the day, was able to diagnose the problem. I had the solution to the issue by the time I came into work the next morning. One time I used it to pass the time while I waited for my plane at the airport (risky, I know, but I could hear the announcements in my dream and when they called for my flight I ended the dream with no problem).
Just be patient and persistent. The more you explore that semi-conscious state right in-between asleep and awake, the more you'll become accustomed to it, and the more you'll be able to recognize it.
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