I just wanna post of another way to begin a lucid dream. I do it quite often and actually had one last night.
My method is to lay on your back, arms by your sides. Close your eyes and look in one distinct corner, so that your eyes are not moving around behind your eyelids. Fight the urge to move or scratch an itch, once your body decides you are sleepy (by resisting those urges your brain is testing to see if you are ready for sleep) your chest will get a little heavy and you will drift off into la la land, then think about what you want to dream.
Last night my lucid dream was completely accidental. I as dreaming that I had a child and I KNOW I don't have a child so I realized it was a dream and took control from there.
Baby, Sparta, Carmen, Henry, Hooch, Mercedes, Butterscotch