I am able to lucid dream best on days I am able to wake up naturally. The key is keeping your eyes closed once you wake up, then try to let yourself fall back asleep. Put yourself back where you were in the dream and if you're lucky you'll be able to control what's going on around you.
I find that if I take a nap when I'm really tired during the day also allows me to lucid dream at times.
Personally though I find that trying to control what happens in my dream just causes me to wake up. I can be very aware that I'm dreaming though and watch what happens.
Just keep working at it. The more you practice the better you'll get.