Well lets see you are in a confortable position while keeping focus/awareness until you feel a dream state coming on.

Basically you focus on breathing and you will notice your body becomes heavy, but don't move. Once your body is very heavy, your breathing will become slow deep.

Once that has happened you are very close to going into a dream. At this point images, pictures, moving pictures like a movie may begin to play in your head. Keep a light focus on these and try to manipulate them or allow them to continue, but still keep your awareness going.

A short while after this you should be in a lucid dream.