I wanted to post my WILD method, not sure where exactly it goes, I assume it goes here, so..

Step 1 - Be Comfy
Get comfortable, in a position in which you won't want to move. Be on your back, your arms shouldn't be lying on you or under you. The should be flat beside you. Same with your legs.

Step 2 - Count, Breathe, Picture
There are two ways to do this next step. First, close your eyes(Got this from someone else, don't credit me for this first one) and inhale, while rasping, "1," and as you exhale, whisper, "I'm dreaming." And so on. "2, I'm dreaming. 3, I'm dreaming." etc etc. Count to 150. When you reach 150, stop and picture yourself flying to where you wish to be. The other way of doing(my method) it is to close your eyes and count to 150. Remember to stay calm and maintain breathing. When you reach 150, (This is an example). Say you want to go Hogwarts. Picture the castle in your mind, and take the most vivid details you can recall, and think of Harry Potter theme music. Either method will work.

Step 3 - Stay Still; Stay Calm
Eventually, your body will begin to itch, you will want to move badly, and you'll need to swallow really really bad. RESIST all these urges. Keep focused. It's okay to swallow about once every five minutes, but other than that, stay frozen. This is the 'trick your body into falling asleep' method. It is difficult. Your body will become uncomfortable, but it isn't really unconfortable. It's testing the mind to see if it will react. The body and mind are two very separate things, and think differently. Stay frozen. You will trick your body into thinking the mind has shut down to rest, and will go into the Sleep Paralysis stage.

Step 4 - Sleep Paralysis
Your body will begin to go numb. It can start anywhere. A common place is the toes and up. For my friend, it starts in her hip. For me, it begins in my fingers. This stage can be frightening. Still, don't snap into consciousness; you'll ruin any chance of having a lucid dream. Symptoms of SP include hearing/seeing hallucinations. I don't have these. You will almost always feel a falling sensation if you have done this successfully. For me, I fell like I'm swinging in a swing, then fall out backward. You'll 'fall' through your bed and usually end up in your lucid dream, fully aware of being lucid. The falling stage is the most terrifying, but if you begin to get frightened, picture your best friend beside you. This works for me. I pictured by best friend behind me and focused on him, him only. Stay calm.

Step 5 - Set a Time
If you must get up at a certain time, BEFORE you have done all of this, set an alarm or something. That, or tell yourself(In the lucid) 'I will awaken at the first noise my real body hears', or 'I will awaken when I command it'.

Happy WILDing!

Disclaimer - I've only done this once, so don't cuss in frustration if this doesn't work for you. WILDs are different for everyone.