The MILD technique, while effective, is sporadic at best. It constitutes going to sleep and hoping that something will trigger a realisation that you are dreaming.
WILD stands for Wake Induced Lucid Dream. From a waking state, a dream is entered without ever losing awareness. It allows the experience of lucid dreams at will, whenever you wish.
When you are sufficiently relaxed and your mind deprived of sensory stimuli, swirling shapes and patterns begin to form from the darkness. They evolve into intricate images and whole scenes. These are hypnagogia. They are not limited to visual elements. It is common for people to hear their name being called, or the telephone ringing. I frequently feel the bed sink as if someone is sitting next to me.
Begin by relaxing your body. Run your conscious attention over every part of your body in turn, mentally relaxing each muscle and sinew. Eventually, you will notice some changes. You might feel tingling sensations, your body becoming heavier and sinking into the bed, or lighter and hovering above the sheets. These are all good signs and indicate that you are in the right state.
Passively observe the hypnagogia. Let them come and go. They will increase in clarity and detail. When a particularly vivid scene appears, focus on it. Concentrate on the details. You will be drawn into the dream without ever losing awareness.
The WILD technique requires practice to perfect, but once achieved will allow you to have lucid dreams whenever and wherever you wish. Imagine entering a lucid dream during your commute to work on the train or bus!