>>936738124This is a good start. When you do these actually try to think if you're awake or not. Ponder it for a bit and look around you trying to see if anything is "off". Do this regularly. In time you'll start checking your hands in your dreams and when your fingers start to stretch you'll realize you're asleep.
Also keep a dream journal. The best way is to keep a recorder next to you at night. Every time you wake up record what you remember no matter how short or mundane it may seem. You'll start to find recordings you don't remember of dreams you don't remember. Each morning listen to the recordings and write them down in the journal. Be sure to include feelings, colors, thoughts, and anything relevant to the previous days.
Another method used by Einstein is to hold a ball in your hand. Keep your hand raised in a comfortable position. When you fall asleep the ball will fall. It takes some practice but will help you catch that moment in between sleep and waking.
All this will train your mind to know when it is asleep. Lucidity has levels. Sometimes you'll be lucid but still be bound by the rules of the dream. You'll know you're asleep but not quite awake. You have to train to wake up in the lucid state. When you have these, the next morning go over the dream and recognize the difference between how awake you were and how awake you are now.
When you do get there remember to stay calm. Suddenly realizing your dreaming and can do anything can be a massive rush. You scramble to think of something to do before you wake and your mind is forced to wake up loosing the moment.
Stay calm, don't think. To do anything in the dream you cannot think about it. This is opposite of how dreams function. Simply know what you want without trying to make it happen or saying it in words. It will just happen. Instead of trying to make something appear behind you and turn and make it come to you, simply know what is going to happen. Turn and hold out your hand and it will.