1. Before you go to bed, think of a single phrase or question about what you want to dream about. For example, if you want to visit New York City. Write down 'Visit New York City' and maybe even draw a picture illustrating the question. Memorize the phrase in the picture, if you drew one. If you have a certain action you want to do in your dream, make sure you formulate it now. Below your target phrase, write down, "When I dream of the phrase, I will remember that I am dreaming."
2. Without doing anything else, go right to bed.
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3. Re-think of your phrase or image you drew. Visualize yourself dreaming about the topic and being lucid in the dream. If there's something you want to try in the dream, also visualize doing it while you're lucid. Meditate on the phrase and your intention to become lucid in a dream until you fall asleep. Try not to think of other thoughts. If your thoughts change, just go back to thinking about your phrase and becoming lucid.
4. In the lucid dream, carry out your intention. Ask questions, find ways to express yourself, try a new behavior, or explore your situation. Make sure you notice your feelings and stay observant of all details in your lucid dream.