Alrighty. This method hasn't given me lucids every time, but every time I become lucid I have done it with this method.

All I do is wake up after 5-6 hours (4:30am), listen to about three or four relaxing pieces of music, whether they're hypnotic or meditation. When I'm finished with that, I go to sleep. Usually I try to listen to the "autosuggestion" track last, because I believe it leaves the words in my mind as I go to sleep.