There is no safe way I'm pretty sure. Dont be a coward. The experience will be worth it.
If you're implying that every single technique is unsafe, that... yeah that's untrue. Even WILDing is completely safe, despite everyone saying "you can't breathe" or "you get paralyzed and scary things happen :c".
Unless you're implying that the thought itself is ridiculous. Then I agree.
Does anyone know the safest technique for having a lucid dream? Just wondering.
WILDing is the only method I have heard of that scares people, and that's for hardcore oneironauts. Anything else is probably just fine.