How to relax completely as an adhder

Hey guys am intrested in lucid dreaming and astral projection and to succeed I need to relax completely but I find it hard so times I need to relax to just take a nap but it's too hard unless I take things that make me sleepy and sometimes even that doesn't work.. I can relax my body completely because I have been practicing for years but I just can't relax my mind and defocus. I love the feeling of my mind wondering it's very relaxing and librariting but the moment I noticed my mind has wondered I come back to focusing too much. I want techniques or methods that all me to quite and relax my mind or make it wonder easily. Any help is appreciated I really need it