SSILD

Senses Initiated Lucid Dreaming

There's no risk in trying it, though.

Set your alarm to 4-5 hours after you normally fall asleep. (The SSILD creator also recommends going to bed before 11pm.)
Get out of bed and occupy yourself for a couple minutes. Use the bathroom, stretch, do something, but don't wake up too much.
Go back to bed and get comfy, but try a different position than normal (to prevent you from falling asleep too quickly). You can use the usual position, but make sure you have enough time for the next few steps.
Quickly cycle (see below) about 5 times (don't worry about counting). This acts as a warm-up for the next step. Each cycle should be a couple seconds.
Slowly cycle 3-4 times. You should be more relaxed now.

During this stage, you might be distracted by your thoughts-- don't worry about it. Let them carry you into your dreams.
If you "snap back to reality," don't worry. Just start from the beginning of a cycle.
Cycles should be about half a minute apiece. Again, don't worry about counting.
If you see or hear anything (or hear something fading away), ignore it.

Return to your normal position and fall asleep. Have faith in the method: remember that dreams work on expectations!
If you have a true awakening (check it! See notes), relax and do a few medium-paced cycles. Hypnagogia may be stronger during this phase. Still ignore it. Let yourself drift to sleep again.

Focus on Sight. Rest your eyes, but notice the backs of your eyelids. Don't attempt to see things, don't try to move your eyes around. Stay relaxed.
Focus on Sound. Listen to the ringing in your ears (probably tinnitus), your heartbeat, or the fan or HVAC system.
Focus on Touch. Search your body for tingling, heaviness, lightness, spinning sensations, or just feel your blanket, your heartbeat, the temperature of the air, and so on.

Like WILD, you may encounter hypnagogia and sleep paralysis. Ignore these. Sleep paralysis is a medical condition and does not affect the technique.
Like WILD, false awakenings are common. Perform a reality check if you think you've failed the technique and woken up again.
Don't expect to find anything-- in fact, expect nothing, and when you notice stuff, pass over it.
Don't worry about trying to stay still. If you have an itch, go ahead and scratch it!