1. After waking from a dream, lie on your back with your eyes closed. Tighten and then relax. Totally let go of any muscular and mental tension, and breathe slowly and calmly. Enjoy the feeling of relaxation and affirm your intention to enter the dream state lucid; have no thoughts, worries, and concerns. If you just woke up from sleep, you're probably well relaxed.
2. While falling to sleep, think that when you fall asleep, you'll no longer feel your body.
3. Once you can't feel your body, visualize that you're a point of awareness from which you perceive, feel, think, and act in the dream world. Visually float around the dream world like a moat upon the sunbeam. You might feel that life as a disembodied spark leaves something to be desired. If so, do not fear, there are a lot of vacant dream bodies ready for occupancy. You can even concentrate on hypnagogic imagery. If a visual dream scenery is established, then you can travel into the scenery.