@Stardipped_Ink hahah lol sorry I don't actually know how to lucid dream it just happens naturally for me xD so I can't give you very good advice
But I noticed that it happens most in situations where you wake up from sleep then fall asleep again soon after that, so your brain is still awake although you are sleeping.
Basically, sleeping at a time when you usually would be awake might help? I'm really not sure tho sorry >~< You can search the Internet for more tips if you're interested.