The process of putting yourself into a lucid dream state takes practice, but once achievable it is fairly easy to put yourself back in. The key is consistency.
Every night, when going to sleep, ensure there is no radio or tv, and have not been on your phone for at least 30 minutes prior. One the best tasks when preparing for rest is to write down your to do list for the next day. This will help alleviate anxiety and stress. Also, note that I said "write", as in paper and pen. Your phone should be silent, the screen off.
Now that you have gotten ready for bed, ensure the room is as dark as you can get it and lay flat on your back in bed, your arms and legs should not be touching yourself. Close your eyes and start counting back from 10, slowly. Each number you should imagine a weightlessness moving in from your feet and hands, up your arms and legs.
Concentrate on breathing deep, and counting slowly, and feeling the sensation as it moves towards your core.
Once you reach 1 start a mantra stating you will be know when you are dreaming.
Now, drift off to sleep.
No, it will not work the first night. Nor the second, or third. But once it starts happening it will become easier.

This was learned from an Omni magazine article on lucid dreaming I read while in high school. I tried it, and it worked.

In truth, lucid dreaming is somewhat boring after awhile. It's like winning every game at a casino, every time. It gets old. What is important is that you will find yourself a better, and faster sleeper.

Good luck!