A trick I tend to use if I really want to make sure I have a lucid dream from the beginning, regardless of the dream being good or bad, is to read about it. I no longer have my book as I gave it away to someone I felt needed it more (but now that bridge is burned so I won't ask her for the title), but at night right before I would go to bed I would read the section about lucid dreams and have that fresh on my brain. I'm sure there are many different approaches to lucid dreaming, but that is something that helps me.