Get in the habit of checking if you are dreaming. Try doing something that you know can't happen but imagine it will work while trying it. e.g. Jump while imagining that you will start floating instead of landing back on the ground. Hold your hand up and imagine your coffee mug will jump into it. If you do stuff like that regularly -- every day -- then eventually you will do one of the tests in a dream too but instead of failing like it would in waking life, it will play out how you imagined it.

Just don't get in the habit of immediately dismissing the idea that you are in a dream. I did that once -- asked myself if I was in a dream and thought "of course not!" because I'd gotten in the habit of dismissing the tests -- and was very annoyed when I woke up... Test the idea seriously every time it occurs to you.

I found it kind of a tedious thing to do and eventually fell out of the habit, but it worked well enough for me that I was able to have a few lucid dreams.

One trick I have heard is to force yourself to develop a habit in your waking life where once every couple of hours you consciously asked yourself "Am I awake right now?", paired with something physical like looking at your hands or something. The idea is that if you develop this as a habit eventually you will do it in a dream, at which point you will realise you are dreaming.

Generally it seems that very light sleep, (like when you wake up in the morning but snooze the alarm and go back to sleep) is more conducive to lucid dreaming. Some people set alarms at intervals throughout the night to achieve this but that can be very destructive to sleep health.

Practice!