I find that if I set my alarm to wake me up after 3 - 5 hours of sleep, stay up for half an hour, and go back to sleep repeating my intentions to have a lucid dream, i'm almost guaranteed to have a lucid dream (though staying lucid for more than a few minutes is still a problem I haven't conquered.) I only remember 1 or 2 dreams I've had about books I've PR'd and none of them are lucid.
