It does take practice to do this stuff, still on the journey to Lucid Dream. Making progress, and still attempting.
Your Dream Recall might already be great but I would start off by making a dream journal. This way you can find you dream sign, which I still haven't found...

Good Luck, and for a crazy ride.. if you are interested try out WILD technique. Haven't fully gotten there yet, but did go through somewhat of Sleep Paralysis.