First off, welcome to the forum, Tyler!

To start, keeping a dream journal should be your first goal - write down anything and everything you can remember. Recording your dreams will often lead to better dream recall, which will help with lucidity. Because what's the use of having a lucid dream if you don't remember it?

And about sleeping positions, I don't personally find one better than another (though everyone is different), but I've noticed that if I wake up and don't move or open my eyes, I can usually remember what I was just dreaming about. Then write it in the dream journal.

Have a look around the forum and let us know if you have any questions. Good luck and have fun!