Personally I do something I call NSSWILD, natural sleep simulation wake induced lucid dream. I basically just try to act exactly like I would were I going to sleep. For simulating being awake, I:
1. relax my entire body.
2. Visualize some object and play with it in my imagination for about five minutes.
3. count backwards from ten
4. slowly, slowly turn over onto another side or move my limbs.
Then I repeat from 2 to 4 about 3 times, and then decide I have officially 'fallen asleep,' upon which I:
1. Repeatedly count from one up to four, and start again at one, like in music in common time (I guess I could experiment with waltzes and stuff though

) and with each number I say picture an image really fast to be like hypnogogic imagery.
2. After SP, I visualize a dream scene, and from there basically VILD.
This method is REALLY efficient and fast for me, and works better than anything else I've tried, so feel free to give it a whirl!
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