ive been trying to induce LDs consistently for a long time (successful here and there) but you basically try and keep your mind going as you fall asleep. Its like you have to hit this perfect balance of you going to sleep and having your awareness and conscious still intact(whether youre just imagining things or focusing on deep breaths)... i have absolutely no where near perfected it.
not sure how knowledgeable you are but theres a few formal methods out there such as FILD, WILD, reality checks(which help you become lucid in an otherwise non lucid dream), etc.