Well Steven Laberge says it took him 5 years to be able to have LDs at will in his book Exlporing the World of Lucid Dreaming. I highly suggest reading it, it has exercises and everything to help you along the way.
Personally, I feel like some of the important things are being aware of your state of mind while you're awake, and just experience. I think after a while you just start to be able to recognize the feeling of being in a dream. I have a couple friends who, when I told them about LDing, were like "Oh yeah, I do that all the time". I hate them for it lol, but it seems like to have them all the time you just have to develop a sense of what feels like a dream... I dunno. I hope that feeling comes with time haha. :yumdumdoodledum:
edit - sorry that I'm not good enough to have them at will yet, I get them like once a week or so. I wish it was more, especially since I'm coming up on my 1-year anniversary of LDing this January haha, but it is what it is.
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