Yoga Nidra. Sleep Meditation. Awake Asleep. Lucid Sleep. All these are names for the practice of deliberate, deep relaxation. In Rest and Relaxation Sleep Meditation (a method I'm certified in), we follow eight paths to get there. This is a longer practice, about 40 minutes, so you'll want to do it when you have that much time and when you're in a place where you feel safe and comfortable.