Sorry in advance for the long post.
WILD (wake-induced lucid dream) includes 4 steps that you need to do:
1) Relax, physically and mentally
The most effective way to become more relaxed is by meditation.
That will help you get into a lucid dream state. You can just simply lay in whatever position you is comfortable, without moving and trying to empty your mind.
If you practiced meditation before, you know that in case of any thoughts, you should not focus or interact with them, but just simply acknowledge them & leave them to float like clouds, in the background. :) . . .
2) After your body is relaxed and loose, you need to concentrate in the darkness behind your closed eyes and let the mind wander around. Anything that might seem to appear when you are in that state, you need to follow up on it. This is referred to as hypnagogia. Here, you just need to observe it and of course - to stay calm and relaxed, as before.
3) The more carried away you become, start creating the scene for your dreams and the characters. Begin to visualize with as much close-up detail as possible. Explore the surroundings and in that way your visual awareness will become higher.
This step should take approximately 10 minutes or so.
4 )Good news! Once everything is in play, you will be lucid dreaming. You will step your into your mind from a conscious waking state into a conscious dreaming state.
Tip: Stabilize your awareness in the dream by saying “I’m dreaming”...
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