I'm going to give this a whirl. Don't think of this like a child learning to walk. This is nothing like it being true that you are going to have to learn to crawl (if only for a day or two) before you can learn to walk. I was dreamwalking from infancy until I was about 12 years of age, when I purposefully chose to stop doing so. I didn't start lucid dreaming until I was into my 20's. I also didn't actively consciously seek out doing either of these (that's not to say that I didn't make a choice to do them or not do them, just that I didn't wake up one morning and go, "Ok, today I think I will lucid dream and here's how I'm going to do it.").
To be factual, it was the lucid dream and my need to figure out what was going on that led me to sections of my library for books on the subject of dreaming that actually helped me put a name to what I was doing.
Once I found what it was I was doing naturally, I did do a bit of self experimenting to see if I could do it by will. Some things work for me, some things don't. It's kind of like the defense thing. For some images of balls of light work, for me it's a broom. I don't think it's about the image you choose or how you choose to get there, but that for that moment your mind/spirit/soul/consciousness can hold that particular reality and make it it's own. You know that whole, "you have to realize it's not a spoon" thing.
Oh, and by the way, for me, it's as easy as my saying, "[name here], I'm going to come have a little talk with you if you don't mind." and then going to sleep.