Here is what you need to do:
Every 30 minutes. I mean EVERY 30 minutes, pinch yourself to make sure you are awake. Look at your hands whenever possible - this will make you realize if you are awake or dreaming. (sounds weird right now, I know).
Before you go to bed;
Meditate, eat fatty foods, especially turkey and things that contain tryptophan.
I, personally, have gotten very close to going into sleep consciously, my dreams 'start' yet I am still awake... but shortly they stop and I 'drop' back into my body, so to speak.
What helps is imagine a dream, go with the flow, start yourself off in a story, and let your mind wander... if you are consciously contructing the story, you're not close to dream world, but once things start to 'take over' much like psychodelics do, you will feel yourself becoming the dream. Personally I believe this is DMT and other tryptamines in the brain being released.
You can also listen to very soft electronica, psychodelic, or soothing music before bed, lowest volume to hear, and try to imagine yourself in the music. This will allow a greater chance to dream, however to become lucid, you need a mechanism to realize you are dreaming - which is the pinching yourself or the looking at your hands. If you program yourself to do this often enough, you will automatically do it in the dream, and it will become apparent that you are dreaming. Now... You are lucid.
