This is what i used to have my first lucid and to remember my dreams, quite simple if you meditate often:

1) sit down in a meditation position

2) relax for about 5 minutes and clear your mind

3) At this point you should feel some physical sensations (I felt a tingling throughout my body). If not, go back to step 2 as many times as necessary

4) for about 2-5 minutes, repeat your goal (i.e. I used "I will remember my dreams and have lucid dreams)

5) awake from your meditation state and continue with your day

It seemed that recalling my dreams worked the same day that I did it and the lucid dream worked the day after. I would like any feedback.