The following is a part of my dream practice. I suggest the books Exploring the World of Lucid Dreaming by Dr. Stephen LaBerge and The Tibetan Yogas of Dream and Sleep by Tenzin Wangyal Rinpoche.
There are four visualizations performed through the sleeping period. The first, as you go to bed for the first time, is visualized at the throat. Imagine the Enochian letter ‘A’ as a translucent form, and imagine a red light glowing in the throat, illuminating the form and anything in awareness. The first visualization is Peace.
The second is Clarity. Imagine a dot of bright white light on your brow (near your third eye).
The third is Power. Imagine the Enochian letter ‘O’ as a translucent form, and imagine a glowing blue light in your chest, illuminating the form and anything in awareness.
The fourth is Corruption. Imagine a dot of black light somewhere around your genitals.
Any time you wake up during the night (or whenever you’re sleeping) you can do the next visualization as you fall asleep. You may or may not do all of them every night, and this is fine. You can even repeat one if you feel like it.
Throughout the day, encourage the spontaneous arising of the awareness that your experience is of the nature of the dream state. In other words, occasionally remember to think, “Of course I’m dreaming, what else could I possible be doing?”
You can also, as you fall asleep, ask yourself “How did I remember that I am dreaming?” Then, repeat “remember, dreaming” to yourself as you do the visualization. This seems to help with dream recall. It is also good to keep a dream journal. I use an app on my phone and just record my voice because writing on paper in the dark at 3am is not the most appealing method to me.
You can also do visualizations during the day where you imagine yourself becoming lucid in situations that often occur in your dreams to associate lucidity with these situations. I ask myself “How did I remember that I am dreaming?” at the end of this little practice.