Nice and Simple, not fluffing this up for seo.
Quite simply, set an alarm 4-5 hours into your sleep. Wake up, shut off your alarm, and just lie there thinking very intently about the dream you want as you drift back to sleep.
also, look into Galantamine + choline bitartrate + alpha GPC
You can also boost vividness and recall with Mucuna Prureins.
(https://www.amazon.com/Advanced-Lucid-Dreaming-Power-Supplements/dp/1430305428)
you can experiment with binaural beats
keep a dream journal
https://www.wikihow.com/Lucid-Dream
https://www.corrosion-doctors.org/Dreaming%20is%20Personal/Glossary.htm