MILD
Mnemonic Induced Lucid Dreaming
This technique relies on prospective memory, which is how you remember your intentions to do things, such as buy certain things at the grocery store. The version of MILD here is paraphrased from Skyfall's MILD, which in turn is based closely on the "official" MILD by Dr. Stephen LaBerge.
Procedure
Set an intention to remember that you're dreaming. There's no magic procedure to do this. All you have to do is just decide to do it.
Recall a prior dream. This is used later.
Find dream signs in the dream you are recalling.
Go through each dream sign and associate them with your intention. According to Skyfall, "The goal of this is to get your brain to recognize when something is out of place or not right, which also involves awareness and criticality."
Imagine getting lucid. Bring back every dream sign you found and associate those with becoming lucid this way.
Note: Repetition helps tremendously with this technique.
Perform a few "cycles" of this technique before bed. This helps solidify your intentions and attaches them to dreams you've had, while keeping it fresh on your mind as you fall asleep.
How this works
Why does this technique use existing (or imagined) dreams to tie the intention to? It helps you practice your intention in a "real-world setting," which in this case is your imagination. In fact, this is the same way dreams help you practice real-world skills. It helps you remember what to do within the context of a given situation (your dreams).
Further information
Exploring the World of Lucid Dreaming by Dr. Stephen LaBerge