I try my best not to lucid dream. I've heard from lots of people in threads like these on other forums that they usually end up in sleep paralysis by mistake before achieving lucid dreaming.
it's fun, a good way to lucid dream is to wake up, but still be super sleepy, and get up and like read a book or s/t or what I use to do was get ready for my day for like 40 mins and then fall back asleep and it'd be easier to get them.