Welcome!

Start out by reading some of the tutorials here, like this one. Then you can read up on some of the techniques: MILD, VILD, or WILD (harder). You may find that rubbing your hands, touching an object, or shouting "increase lucidity" in your dream help you gain control.

The most important part is to stay motivated and remember that it may be awhile before you start having vivid lucid dreams. It's like any other skill in life, you need to practice. Good luck!