Ideally, you should time it so you wake after approximately 5-6 hours so if you did manage to lucid dream it wouldn't end quickly. Then, really, you can try any technique you want, but you'll have to experiment to find the ideal time, but you'll wanna do it going back into one of the big REM cycles. then you have a good chance of entering a lucid dream, if you do the m,ethods correctly

I wish you luck!