Yes, there's only two steps, but both steps take a considerable amount of time to actually achieve. You must first identify your totem, the thing you know you will see in your dreams, then mark it in less see-able place. Once you've identified your totem, you create your personal mantra and practice each night with both your totem and mantra in mind.
Totem = phone
Mantra = 'Check the charge'
Almost without fail, any time I've entered a dream and checked my phone, I've been primarily in my room, and when I check charge level, it tends to be around 135% or -67% or some of that weirdness. That reminds me that it is abnormal, and I wake myself into my dream thusly.
Mantra: where is my (figurine)
It is likely you will enter your dream holding the totem. Examine where it 'should' be marked. It will not be marked, if it is not in your awareness regularly. The irregularity should wake you into the dream thusly.
This one is odd but it's worked for me as well. Some of us may own pets. I personally have a black cat. Her name is Suki. I see her literally every day and she's popped into my dreams on more than one occasion. Anyway...
Totem = Pet
Mantra = Pets name, slowly
I suppose it would be helpful to mention that this may only work while your pet is in physical contact with you during the falling asleep process, as my cat often is.
One would, after relaxing, focus their perception on their pet, where they are, how they're laying, how they're in contact with them. This would lead to the pet becoming the dominant thought in the mind, going into a dream state. One may find themselves speaking with their pet in their native tongue, or vice versa.
These are just a few examples. Some of the things I like to do when I -am- lucid dreaming gets a little crazy. I've made a few planets, a couple suns, I like to stretch platinum bars out and strum them like guitars, I've watched as my spirit animal (snake, btw) multiplied and changed into her infinite forms and shapes. Her name is Xenna and she's amazing. There's no limit to your own inner universe. The space between your skull is technically infinite.
Aaaaanyway, this is The Zeloreon Process: A (quick) guide to lucid dreaming.
Thank you for viewing.