I've been practising dreaming and lucidity for a few years now and consider myself quite good at it, so I can offer some tips that worked for me.
1. Keep a dream journal under your pillow, and write in it as soon as you wake up. Just write whatever you can, even if it's short or fragmented.
2. Read your dream journal before you go to sleep. This seems to remind you of what a dream is, which will help you distinguish between dreams and reality, and also help you remember your dreams better.
3. Find something that can tip you off as to whether you're in a dream or not, and occasionally test this in reality. I choose to try to float, as I can always achieve this in my dreams, and it looks totally inconspicuous irl.
4. Have an idea of what you want to do in a lucid dream before you have the dream. If you spend too much time thinking during your dream it will make you wake yourself up. Instead, as soon as you're lucid, start doing what you want and focus more on the action than the thoughts involved.