People are not mass produced machines.

Use low volume ambient sounds, preferably relating to sea sounds to attempt to replicate the kind of ambient sounds in the womb.

Lucid dreaming doesnt really work for everybody; the best way to attempt this is much more simple. Set your alarm clock thirty minutes before normal and the instant it goes off write down your last dream.

Then, and this is most crucial, fall asleep again and attempt to reconnect with the previous dream. This half asleep brain has a better chance of lucidity.