People will speak about "levels" of lucidity here, but really a lucid dream is a dream in which you are aware you are dreaming. You can sometimes only be partly aware in lucid dreams, but in reality a good lucid dream is one where you basically are as aware as you are in real life If feels just like this, but in a dream. It's awesome!

There is no "best" method! Everyone here will tell you "find what works for you"... so what works for me? I set the intention I will lucid dream, go over a few mnemonics, and make sure to record my more awesome dreams in the morning. Try staying relaxed but aware, trust me, because you will fail a lot, and that's part of it. It should not be stressed over.

Good luck