jfriday11,
Sorry for my late reply - about intention setting (e.g. mantras) and prospective memory - see cooleymd's reply... I do it after my RC+awareness, and I also visualize becoming lucid or particular dream scenes that I want to achieve.
My process during the day is that during the day I "randomly" (not at specific times) do ~3 times the following:
awareness+RC - awareness is essentially tuning into your senses and focusing on your surrounding. Every little noise, smell, or sensation, etc... Things you would normally miss or ignore. Just observe your environment focusing on what's happening around you. Take the time to do it, like a couple of minutes. Awareness for me is the first Reality Check - so while I'm doing it I check if anything is unusual, or if dream signs are present, etc, and ask myself thing like where have I been, where am I heading, etc. (and really think about my answer - does it make sense?). After that, I do one or two more RCs from my favorite list, things like: nose plug (internal / external), blinking and observing if anything changed, counting fingers and observing if the hands are normal, try to see my own nose / eyebrows / mustachio and move them (which I can do in waking life), etc.
Then comes the part of intention setting and prospective memory and visualizing being lucid or being in a particular dream (like daydreaming). These depend on your goals - so customize the wording / visuals based on them. Also, just choose a couple, don't go overboard.
I also do the same just before going to sleep, and during some awakenings at night.
Apart from that I try to RC+awareness at every awaking - to avoid false awakenings, i.e. dreams that start by waking up and thus are harder to catch (because they have a logical beginning).