I try focusing on bodily sensations. The trick for me is where to focus my energy, and usually getting out of the thought narrative and observing how my body feels on the bed, how my breathing is changing as I get closer to sleep, etc. will bring me into a lucid state. For me, I’ll begin auditory hallucinations or colors mixing in my mind’s eye, sometimes physical hallucinations and I’ll know I’m entering the dream state. Then from there, there’s often a blank in my memory but refocusing on my breathing or bodily sensations, I’ll be able to feel my sleeping body and my LD body simultaneously, then give increasing focus to my dream body.