Only done it a handful of times.. it’s not like you can simply will yourself into it. Sometimes I feel sleep paralysis kicking in while I’m still conscious and not yet asleep. This has always been key to me inducing lucid dreaming. Don’t fight the fear that sleep paralysis tends to bring on... just keep your eyes closed, relax, and expect to feel like you’re falling into nothingness. Once that’s happened, you’re in the dream and in control. Typically I’ll “open” my eyes and be in my childhood bed (in the dream, of course). Oh, and alcohol. Its only happened to me after a night of drinking.