For me it's really easy to get into a lucid dream. I don't know how, but it works reliably for me.
1. Sleep for 3 - 4 hours max
2. Wake yourself up with an alarm clock
3. Take a cold shower
4. Wait until you get sleepy again
5. Lie in bed (preferably with slightly wet hair) then start lucid dreaming
At first you feel like you're dying. Ear piercing noises, continuously falling through a void, extreme fear etc. I think this is sleep paralysis and this will make you want to wake up if you don't realize that you are just in a dream, and at this stage it is very easy to do just that. This is not a problem for me anymore as over time I got used to it and I grew to like the feeling of dying. I think that it will prepare me in the future for when I decide to finally end it.
Then you will go into your lucid dream. This is where I fuck it up most of the time. When you're completely aware that you're in a lucid dream, you will have thoughts about waking up and it's hard to stop these thoughts once they start. This this will make you wake up and be unable to go back to your lucid dream.
You have to not think too hard on what's happening and just let go, but still be aware that you are in a dream. Don't think too much and force events around you and instead make suggestions or do it indirectly. Instead of forcibly trying to summon a foid in front of you, walk around your lucid dream and imagine a foid behind a closet or door.
It's a really good cope and I would do it everyday if I can. Just be careful of being too excited and immediately ending the dream. In my experience kissing is not too exciting but still feels really good, especially if you use your tongue. If you have sex, the dream ends immediately once you cum at least for me.