I almost always remember my dreams upon waking. Frequently I suddenly realized I was dreaming and would wake partly up. Usually I notice that my eyes are closed, like while I'm driving, and I'm afraid. Then I force my eyelids open and realize, "Stink, I was trying to sleep" :-)

But I never struggle with getting to sleep. I just concentrate on "nothing" and try really hard to not think about anything, and soon enough I'm asleep. For me it just takes discipline.