90% of lucid dreaming is just becoming extremely aware of your surroundings, and your experience of your surroundings, and whether they're real.

Once you find out a few times that they aren't it can pretty fundamentally change some of your perceptions

It’s an odd thing to ‘wake up’ to the reality that you’re dreaming. Any tips on getting into that state again would be welcome. It tends to happen for me after I’ve been pretty focused/mindful of the present for some time.

What's helped me is getting really comfortable to the fact that the things around me are never really real.

They're either wholly manufactured (dreams), or partially manufactured (flawed senses and biases).

This tends to make me very mindful when awake, and very lucid while asleep