If your serious about mastering lucid dream....
you should develop one pointed concentration...samatha meditation... in tibetan dream yoga this is the foundation of all other techniques... without concentration what can you achieve?... you need for strengthing the intention to have a lucid dream, focusing on the technique you use to become lucid, and staying mindfull of anything you wanna think about...when you master this technique you will be the master of your mind...start by choosing a physical object to focus on...sit up with the back straight.. head tilted slightly forward...then keep the awareness on the object...stay in sensuality of the present moment, dont not let your self be carried away in the past or the future... if you do at least 5 minutes a day everyday... everything will change!!...when you focus stay as still as possible... dont blink.. you know your making progress when strange visual phenomena appear...dont be exciting about this nor distured... as you develop concentration you will attain samadhi!!.. but you cannot skip a day .. if you skip one day... you lost everything!...you have to start all over... use this power to master lucid dreaming!