If you have had 24 already you should already know. Ways you can enter a lucid dream are:

Entering one directly from falling asleep while staying conscious
Turning a dream into a lucid by means of Awareness or random reality check
Doing a DEILD, which is basically the first one but slightly different
Autosuggestion and hypnotism.
Also Astral projection but that again is loosely based off of the first one.

There may be others, I don't know.