Technically, you dream every night but you simply don't remember them. For the majority of people, it takes a little bit of effort to exercise one's recall so that it stays at a good level; you can start this by keeping a dream journal. When you wake up in the morning, record anything you may remember - emotions, locations you dreamed about, who you saw... Even if it's only a sentence. If you remember something that you can't really find the words to explain, try as hard as you can to at least get something down.
Becoming lucid comes after you achieve decent recall; I'd get to at least one dream a night before worrying about actually getting LDs. But you can always go through the different induction techniques now, for motivation. And dream control is really just knowing and fully expecting an outcome, like reaching into your pocket and expecting to feel, both the texture and weight of, a set of car keys.
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