There isn't much to it. It all depends on your level of comprehension on your surroundings. You need to realize it's a dream first, and that in itself is the difficult part. I find no interest in controlling my dreams, but when I lucid dream, I end it so I can wake up, since I'm a heavy sleeper.
Its difficult I have never managed it but basicly once you realise you are dreaming make a decision to do something like if you are walking stop or try to run if you find you can then thats lucid dreaming you made something happen in your dream.