[LawrenceKerr]

It's pretty easy. If you're the type of person who rarely dreams, it takes about a month or so.

First consciously cultivate interest in your own dreams (through dream journaling, and consciously looking forward to your dreams before sleep). That's the basis.

Then, if it doesn't happen spontaneously, to force a breakthrough you can always set multiple alarms (tip: a smart watch with a vibratory alarm, or... make a baby), to wake yourself and keep yourself on the edge of sleep - into that hypnopompic state (between 2-4 AM works best for most people). It takes a lot of effort, concentration & patience. The only thing about this way of entering a lucid dream, is that you're likely to consciously experience sleep paralysis first, and many people don't like that even though it's harmless and a perfect gateway into lucid dreams.