How can you lucid dream?

The other night I had a lucid dream that was not exactly in my control but I new I was dreaming and tried waking up. It was hard but I got out of it. Come to think about it, It was a little scary but on a scale of 10 it was probably a 3. I tried lucid dreaming again last night but failed. I don’t know how to lucid dream but I want to know how. Also I want to control my dreams so it can be more fun for me. I’ve heard of a mask that can help you lucid dream but I don’t have it and it flashes a light to wake you up. I don’t want that. I want to know how to lucid dream, how to control it, and if anyone has had a lucid dream before.