How I finally managed to lucidly dream. (I don't recommend this.)

Before I go to bed, I usually pee. Last night, I intentionally went to bed without peeing so there was a bit of bladder pressure. I told myself very sternly over and over "The next time you have to pee, check to make sure you're awake."

Sure enough, I had to pee, and instead of pissing my bed like I'd normally do, I remembered my instructions and discovered I was dreaming. I don't really remember much about what happened but it was awesome. It worked for me, but yeah, I definitely would not suggest that you do this.