The one time I did lucid dream, it was waking up in the middle of the night, staying awake for 5 minutes, and then going back to sleep. (This was unintentional, but I later made the connection as to why I went lucid that night.) I'm not sure if a sleeping position would help me, as I can only fall asleep in certain positions, side or stomach. I can never sleep on my back.

I will also check out the tutorials. I do want to start trying lucid dreams soon.