I like the technique first introduced to me in a Carlos Castendeda book. The technique was to look at the backs of your hands. If you are dreaming, but you can stop what you are doing and raise up your hands in front of you, that can serve as a stepping stone to knowing that you are dreaming and from there you can presumably wake up your consciousness within the dream space. The trick is making that mental leap without getting all excited and waking up. It works for me occasionally, but then I will often get hung up on what to do, who to see, where to go, etc. Slowly but surely, I'm working on it. I hope this is helpful for you. Of course, there are also herbs that can assist, so perhaps having some mugwort tea and then intending to lucid dream as a before bed practice could help as well. One note, when I am able to look at my hands, I always get a very strange and hollow feeling. And then waking can be rather disorienting, especially at the moment where your consciousness wakes to your body from the lucid dream if it happens suddenly. For that reason, I like to keep my eyes closed and relax my body for a time after re-entry. Great topic!