Well, it is really just confidence and lots of practice. You have to know you will have a lucid dream. You also have to know you can do anything. Also, it helps if you maintain a good sleeping schedule. I would say sleep 9-10 hours a day at the same time every day. That is the only thing that will truly help you.

The past few days my sleeping schedule has been screwed up... Right now I am really tired because I stayed up 5 extra hours. So I better get off to bed. So tired...