I have used Stephen LaBerge's MILD Inductiom to pracctise MILD. But just by listening you wont get a lucid dream. Just use the guided meditation as a pracctise.
I used the MILD Induction until I remembered the whole thing and until I didn't needed it anymore.

So now when I MILD I use the tense and relax technique for example. So learn by the CDs but don't waste your time inducing a lucid dream with it, because that can be hard.