A good note on how to do it very simply is by making a subconscious routine of asking yourself "Am I awake?" That way when you do fall asleep and you dream you will ask that question to yourself and then realize you were dreaming. Anyone can do it with zero experience of lucid dreaming because when you become aware of dreaming, you then posses full control of it.
This method has worked for me and there's a book on it called "a field guide to lucid dreaming" where in the beginning it talks about an experiment where scientists told someone to roll their eyes back at them once they lucid dreamt. The person remembered what they asked of him and rolled there eyes while they were shut while they were dreaming just to see such a thing exists.
