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It's a little lengthy so it's difficult to remember - or at least, remembering while just barely lucid - but if you repeat the steps to yourself like a mantra during WBTB it makes it easier to remember. (Plus, just a little repetition and persistence helps a ton.) 

The first step is really more of a "step 0"; should be done while you're awake. Think up a plan, usually a general plan is better than something very specific, though to each their own. Goals are invaluable while lucid dreaming, and help you not only stay lucid and on track, but they help give your dream narrative a direction to head in so your dreams tend to be more stable and control is typically a little easier.

Then comes the actual lucid routine. Immediately once you become lucid, my first reaction is to sit down and realize that nothing around me is real. Then, simultaneously, I try to take in the details around me while also trying to recall the plan I had made earlier. I stay there, on the ground, thinking about that plan and how I might execute it - feel free to get a little more detailed now, though I still prefer to keep things a little loose to leave room for improvisation. Then you get up and carry on with whatever it is you want to do.

Basically, it's just A) Sit, B) Reaffirm to yourself that nothing there is real, and C) Focus on the details while jogging your memory.
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