Just start thinking "Yo, is this a dream?" in real life (you can also try to move a few of your fingers into the palm of the other hand, like a little hand ritual. Supposedly if it's a dream your fingers will go through but, uh, that hasn't worked for me. Being aware of dreams did, and the hand ritual helps) and eventually you'll think it in a dream and realize it and go bonkers. I had that recently so I was like "Wake up, wake up" but I didn't wake up so I just did a sick backflip.
There's a lot of good info on lucid dream online, search up!