Create a Yoga Nidra Nest - A place where you can lay down and be in maximum comfort. 
Find a quiet spot in your home- free of clutter. Make sure the room is a comfortable temperature.  Turn off all of your devices, cel phone, computers etc. Let others in your home know that you need to remain undisturbed for at least 40 minutes. 
Use a Yoga mat or Thai yoga for your practice. If the floor is not comfortable you can lay on your bed.
Cover your yoga mat with one or two blankets to make sure it is a comfy place to lay down. Always add one more blanket thank you think yo need. The body will get very heavy once it is relaxed. 
Lie down in savasana- legs hips distance. apart, feet open to the sides and palms facing up with arms about 60 degree's from the body.
Cover yourself with a light blanket or rest inside of a sleeping bag liner
Cover your eyes with a very light scarf or light eye pillow. See YogaMoves for the perfect yoga nidra eye pillow. Or you can try this awesome Nite Hood -especially if you have a bald head like me. 
Put on some cozy socks. No one likes to have cold feet!
Place a bolster or rolled blanket under your knees to support your low back
Use a cervical pillow or small rolled blanket to support your neck. 
Allow yourself to feel like you are lying on a throne of relaxation and ready to receive the healing power of Nidra Shakti! 

Photo Courtesy of WMN Space