I created this technique by accident.

SILD is a technique in which you use music to keep your mind focused on staying awake and resisting itch-urges, but you feel everything you need to.

Step One - Get a soothing song. Put it on repeat.
*You can use a sleep mask if you wish*

Step Two - Be comfortable, don't make it so you want to wriggle around everywhere.

Step Three - Mouth the words to the song. Just barely. Don't stretch your mouth, just move it slightly with the words. This calms the body.

Step Four - Stop mouthing and wait. You might go into SP, required you did this all correctly. If not, continue mouthing the words.

Eventually, you'll drift away and see different surroundings. You might even hear the music, or none at all. Immediately do an RC, and more than likely, you're lucid. ^_^ Happy Lucids!