In short, you want to know how easily you get back to sleep before doing anything else. If you're one of those people who usually stays up for half an hour or whatever after waking up before they WILD/WBTB etc, then get up, use the bathroom, write down your earlier dreams, before getting back in bed. However don't make it half an hour, 2-5 minutes max in this case IMO, maybe less.
If you find it hard to get comfortable again after being up for any length of time, then just use the bathroom (if you need to) or open your eyes for 30-60 seconds to wake yourself up enough mentally that you're still relaxed and ready to sleep but aren't going to fall asleep before you intend to.
Once you're ready, you just have to close your eyes, relax until you see the first colours and stuff start forming behind your eyes, then concentrate on an image, and focus all your intention on trying to imagine it. Ideally use your last dream, since that tricks the brain to continue where it left off a little, but if you don't remember one try just imagining what your room looks like, and try and remember little details etc.
You're unlikely to be able to get a clear picture, it should just be in your mind's eye like a usual memory, but the trick I find is when you try and imagine something, and *then* give up and let your mind take over, the images come flooding in big time. So now just let go of what you imagined, and observe the images you start to see without trying to control them. Pick one, and focus in on it until it solidifies around you.
Then you're likely to be there without sleep paralysis, so either: A) Wait for sleep paralysis, which should only take a minute or so now you're already in the dream. In the mean time use your senses to feel the world around you so the dream solidifies, B) Find a way to move around without your body until you're in sleep paralysis, i.e. float around as a head/set of eyes or an orb, or use your mind to teleport you etc, or C) Grow an extra set of limbs on your dream body so you can move it without moving your real body.
So:
- Wake in REM
- Use the bathroom/write down dreams OR just open eyes, relax for 30 seconds thinking about your dream plans
- (Optional) Spend a minute or so doing affirmations/mantras just in case you fall asleep so it boosts your chances of a DILD anyway
- Close your eyes, relax until colours form, focus on trying to visualise a memory in detail
- Let go of the memory and let your mind take over, then focus on the images it produces until they become clear around you
- If you get in, great, either wait for SP (30-120 seconds or so from now) or find another way to move your dream body until you're paralysed. If not, let the image fade and wait for another, repeat until you find a suitable image that solidifies around you.
I've shown some friends the guide so I'll focus on a couple of things they didn't understand in my original explanation:
- When I talk about trancing, i.e. rolling your eyes back and letting the mind's eye take over, you don't necessarily have to roll your eyes up/back, its just that when they relax that's what they tend to do. If you find your eyes relax in the position they're already in, that works too. You'll know if they're relaxing properly because it feels sort of like you're sinking back into your head and the imagery/colours get more vivid.
- Don't waste too much time on this method. This is one of those methods that like FILD should work very quickly if you're relaxed enough, and if you're not, it's not going to work much better just because you lay there for 30-60 minutes constantly trying. I find some nights it works perfect first try, other nights I'm better off just doing affirmations and going back to bed because the imagery isn't coming through quite so clear.
- If you're one of those people who can cause themselves to go into microsleeps, i.e. short 10-30 second sleep bursts and then wake up while they're doing WILD or something similar, then use that to your advantage. It makes this so much easier, because if you fall asleep for even 10-20 seconds and then wake up, the imagery starts forming immediately and you don't even need to prompt it, you can just dive right in and continue from the options A, B or C that I outlined for once you're through 
- Also during the stage where your mind is forming images, some images just don't go clear no matter how much you focus on them. Every time you get one like that, release it immediately (just stop focusing on it), and wait for your mind to start producing shapes/colours again, then focus on those until they become an image, and so on. Repeat as necessary. If you're not getting any shapes/colours forming, you aren't relaxed enough, or aren't in REM to begin with, so try again another day.
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Also I already got a PM from someone mentioning they already have dreams like this, where they can feel their real body at the same time as the dream one, and usually wake up because they try to move. Someone else I showed this guide to out of my friends said the same thing. So for those of you who already have this kind of experience through other methods or it just happens to you anyway - take note of what I say to do once you're there, and you'll find you're able to stay in those dreams instead of being woken up by movement! 
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Oh and finally, just a little tip for everyone that this method showed me. You can actually fall asleep while moving, yes, you can be kicking your legs about restlessly, flailing your arms, rolling about etc and actually get into a dream at the same time. You have to be very mentally tired, but I've done it a few times. I've done this technique sort of by accident a few times now because the moment I see I can form the images, I know I'm able to jump in so I do it - but a few of those times I was quite restless those nights and tossing and turning in bed, so when I found myself coming through the other side, while still mid leg kick etc I was really surprised.
It tells me there's hope for the likes of us who have trouble relaxing, or people with RLS etc who want to lucid dream! 
That said, you should still try be still if possible, but it seems methods like this, FILD, and a few others that skip sleep paralysis can get you there even when you're not completely still.
Some of you might be the type to wake up in the morning and toss and turn about in the covers while still having like half-there dreams where you're in your imagination but not really completely in the dream - the trick is, that's that place through which you can jump right into the dream even without paralysis. If you just focus fully on the imagery and stop worrying about your movements and feeling like they're going to stop you from getting through, then you can jump right into them.
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