I’ve only ever had a LD once before and I’ve been trying to use WILD, but every-time I try I get very close but then I get to excited and wake back up. I can feel myself falling asleep and I start to see colors but then I end up twitching or something and then I have to start over. By that point I get frustrated that I just wasted a half-hour not-sleeping and just go to sleep. How can I keep myself from getting to anxious/twitching? 
The same happens to me, in fact it happened last night I could feel myself going into the dream and there was a sort of tunnel thing but for some reason I HAD to swallow and it woke me back up…
To stop your muscles from twitching try stretching all of your muscles before you lie down, like you would after standing up after a long movie it helps relax them.
And to stop the anxiousness i’m not too sure because I get it too but repeating to yourself “Relax, Stay calm, I will soon be dreaming etc…” seems to have a positive effect
Well, if you get anxious during that, maybe you can treat it yourself, just try to relive the experience in your imagination, and notice what tips you off. This way you’ll be able to get over the anxious part, and react properly next time 
Best of luck to you.
The same thing happened to me my first try. My eyes were twitching and my heart was pounding. I find that auto suggestion works and repeating “stay calm” in my head helps. It’s better to try and observe what’s going on almost in like 3rd person because then in your mind it doesn’t seem like it’s happenig to you and then you don’t get overexcited. Im just basing these off of what works for me. You want to make sure your relaxed first. I read in an e-book that to relax your body you can tense and release your shoulders, then work your way down to your feet and then back up to your head, and you’ll feel a little heavy but relaxed (Beginner’s Guide to Lucid Dreaming 38 ). Also you could wash your face before lying down, that also helps to relax people. I do a WBTBWILD to get an LD. What I do is I sleep and I set an alarm on my iPod 6 hours ahead of when I go to bed and then in Notes I type in what I’m gonna do during my WBTB and I leave that up and set my iPod near my bed. Then when the alarm goes off and I unlock my iPod it goes straight to Notes and I take it from there. I also leave a little auto suggestion at the bottom like “you are gonna be lucid in your dream tonight, have fun”
Thanks for the advice guys. Sorry It’s been a while since I posted, I’ll try those tonight. 
I have similar problems. If I do manage to find a position, I lose focus when the images come, and I end up just watching them until I fall asleep. I never get into the next stages of WILD because I’m too busy watching the images.
My advice about your twitching problem:
As orcywoo6 said, stretch! But you might want to use a step-by-step stretching process.
First, tense up the muscles in your feet and toes as much as you can. Hold that for ten second, then release it slowly.
Move up to your calves and thighs; tense, hold, release.
Do this all the way up your body until every muscle you can possibly stretch has been loosened.
Then you shouldn’t have a problem
I tried WILD last night and i got to the point where my body was numb and tingling and it looked as though i was in a bubble and i began to see flashes and whatever those images are called but that lasted for about ten minutes and it didnt progress into anything. eventually it went away because my arm began to cramp and i had to move.
But how do you get further than the images what do you do next? 
I found that I always end up concentrating too much on how my mouth and head feel so I try to breath through my mouth. Then I end up having to swallow because my mouth gets dry. Any suggestions?
Also, I’v heard that it’s easier to LD if you’ve already been asleep for a while, so I tried going to sleep then waking up after 5 hours or so then trying WILD. Is it better to stay up for a while after you wake up or immediately try WILD?