How to actually lucid dream?

Establish Your Intentions

Prior to drifting off to sleep, take a moment to affirm your intentions by repeating a mantra like “I will remember my dreams” or “I will be aware that I am dreaming” multiple times.

Visualization Technique

As you begin to fall asleep, imagine yourself becoming aware during a recent dream. Envision the moment when you recognize that you are in a dream state.