There is a method of inducing lucid dreams that is getting a lot of love on Reddit at the moment. The FILD method is described in this post, but the technique can be summed up as follows:
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Go to sleep.
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Wake up when you're very tired, perhaps using an alarm.
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Start tapping two fingers very gently, using a minimal amount of energy. Keep tapping and let yourself drift off to sleep.
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Do a reality check after a few minutes.