I wake up an hour early in the morning and immediately roll on to my stomach to sleep. I can't sleep on my stomach usually but when I'm half asleep it's a breeze. I still feel some connection to the body which enables me to enter a dream lucidly. I've gotten about 2-3 lucid dreams a week this way and I stumbled upon it completely unintentionally.

MILD and WILD also exist but I've never found success in those. Dreams are unstable by design, you need to learn to be present but still calm enough. Get a dream journal, try some techniques, but don't really make it an obsession. You ultimately can't control when you lucid dream as a beginner, I can't even control the when as a more experienced person. All you can do is make the right conditions and wait. You'll get the hang of it if you try, but getting there is hard.