With the Mnemonic Induced Lucid Dream (MILD) method, as you fall asleep, concentrate on your intention to remember to be aware that you are dreaming. Repeat a mantra in your head, such as "Next time I'm dreaming, I WILL remember that I'm dreaming." Think about this (Think that you want to remember that you're dreaming—the same way you go to a grocery store and make sure you remember that you need a product), and imagine that you're in a dream you have had in the past, but this time you are aware that you're dreaming. For example, if you've dreamed of flying, imagine yourself realizing that it's a dream because you're flying, and you don't fly when awake. Keep repeating and visualizing the mantra until you're sure that your intent is set in your mind or you fall asleep. If you stop repeating and visualizing the mantra, just try to have the last thing in your mind before falling to sleep is the intention to remember to be aware that you are dreaming.
The Mnemonic Induced Lucid Dream method can be practiced both when you first go to sleep, or after you have woken during the night. If you practice the Mnemonic Induced Lucid Dream method after you have woken from a dream, first run through the dream to make sure you remember it. Some people find it helpful to write about the dream in their dream journal, which helps you remember more dreams.
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Once you got the dream memorized, go back to sleep following the steps above. But this time, also visualize the dream you just had. Go through the dream in your mind until you have a dream-sign you originally missed. Now, instead of missing the dream-sign, visualize yourself recognizing it and becoming lucid.
Keep doing this Mnemonic Induced Lucid Dreams method until you've fallen asleep. You will hopefully re-enter the dream, recognize the dream-sign, and become lucid.