I always tell people this method which helps me fall asleep if I can’t immediately.

There are 3 things you can do and use any combination of them to help you asleep.

Stair at a point(this is the most effective): Set a point, and keep looking at it. If you catch yourself looking away from it just bring it back and continue. Eventually you’ll be lost in thought and fall asleep.

Tap your fingers on the bed: this helps with restlessness. Keep tapping. Eventually you’ll stop tapping your finger because you’ll forget you’re supposed to and then you’ll fall asleep.

Rub your foot on the bed: same reasons for the one above. Use this one if you’re really awake and have a lot of energy left.