Hi, Kate! There are many ways of learning how to lucid dream! Here's a list of the main techniques:
DEILD (Dream Exit Initiated Lucid Dream) - upon waking from a dream, you trick your body into falling back asleep while remaining conscious. DEILD tutorial.
DILD (Dream Induced Lucid Dream) - while in a dream, you must realise you're dreaming. You rely on increased awareness for this. DILD tutorial.
MILD (Mnemonic Induction of Lucid Dreams) - it involves using a mantra and/or visualization (and also working on your prospective memory) while falling asleep to remember you're dreaming while you're dreaming. MILD tutorial.
WBTB (Wake Back To Bed) - similar to DEILD, you wake up and then go back to sleep. Unlike DIELD, though, you'll stay up for some time, to keep yourself conscious and to visualise or use mantras in order to increase your awareness in your next dream. WBTB tutorial.
WILD (Wake Initiated Lucid Dream) - in this technique, you trick your body into falling asleep while remaining conscious. WILD tutorial.
Which one works the best? That depends on the person! So check them out and see which one you'd like to try first. If it doesn't work, don't get frustrated, sometimes it takes a while to get there. And sometimes you just need to try a different technique. 
Also, we have a place where you can start a dream journal (here). I recommend doing that, since dream journals are great for dream recall. And there's our Intro Class, where you can start your own thread/workbook, to keep track of what you're trying and how it's working for you. 
Good luck and sweet dreams!
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