I did say the key was maintaining lucidity, but i still dont think you can at the same time have the same context throughout all of your dreams just because you're lucid. in my opinion, people who go to bed using a technique, and then are lucid from beginning to end, actually are only lucid at the end of REM sleep, and the idea of aquiring lucidity in the transition from wake to sleep, is just an illusion. In the same way that people remember the dreams only towards the end of REM, i believe that lucid dreamers only remember the dreams they had towards the end. It only makes sense. So in saying that, lucididy is not aquired through any technique, but comes about naturally with the aid of reality checks and the sheer will to want to have a lucid dream at the end of REM sleep.