To count yourself to sleep to induced a lucid dream, while you are in bed, close your eyes and relax. Remove all muscular and mental tension, and breathe slowly. Enjoy relaxing and let go of your thoughts, worries, or concerns. If you have just woke up from sleep, odds are, you are already very relaxed.
As you are going to sleep, count, one, I'm dreaming, two, I'm dreaming, and so on, keeping a degree of vigilance.
Start back at one once you get to 100. After doing the counting and reminding process for a while, you'll notice that at some point, you will be saying I'm dreaming, and you will then notice that you are now dreaming.
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Another method is to count from one to 100 in your head, and adding (for example) "I'm dreaming" between the numbers.
Or you can visualize yourself stepping down the stairs and reading each floor number, from 100 to 0. Make this visualization as vivid as possible — don't include only what you see, but include what you hear, feel (for example, touching the banister), and even smell.
Eventually this image will turn into a dream or you can get sleep paralysis. It's very easy to lose count. But keep your focus: you're not falling to sleep; only your body is, and you need to concentrate completely.