How do you "jump into" a lucid dream?

The way i enter a lucid dream is i lie down for a nap but i dont let myself fully fall asleep so im coming in and out of consciousness but with my physical body perfectly still so eventually i get SP and i "jump out" of my physical body ( i picture myself floating up out of my body and going to the floor by my bed) and suddenly im standing or on the floor next to my bed in a LD. Sometimes i have to do a couple of flips or spin around until i land next to my bed. How do you do it?

another thing i do is when i am at the right point i try to look "through" my eyelids, and when i actually see something through my eyelids i know i'm in and i just "get up" and do my thing..

It's called a WILD. There are a number of tutorials on it. Clairity and Adam both posted good tutorials on their own techniques.

Don't be discouraged though, WILDs are very difficult to get the hang of and I've failed a hundred times before. :P