Hi, welcome to Dreamviews. 
A lucid dream is basically a dream in which you know that you're dreaming. You're conscious within the dream so you can act seperately from the plot of the dream and do whatever you want.
There's three main techniques that people use - WILD (wake induced lucid dream), DILD (dream induced lucid dream), and MILD (mnemonic induced lucid dream.
WILD - going directly from the waking state into a dream. The transition involves sleep paralysis which can be scary at first, but it's an amazing experience. It can be difficult to get started using this technique because most people hallucinate and experience tactile, auditory, or visual sensations.
DILD - becoming lucid when the dream has already started. Practicing awareness is key to this technique, as well as being skeptical about whether you can be dreaming or not. Just because everything feels real right now, it doesn't necessarily mean you're awake. After all, things feel real in a regular dream too.
MILD - repeating phrases such as "I will have a lucid dream tonight" with conviction. It has somewhat of a placebo effect.
Here's a more thorough description of the techniques, along with a bunch of other ones.
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