Step 1: The first thing you must know before you summon a succubus is that they respond to lust. Feeling sexually charged without relief attracts them, brings them to you. But a succubus needs to know that you are trying to contact them or else it might take a lot of time. So the first thing you must do is lay down in your bed *It does not have to be your bed, it can be anywhere really, as long as you are relaxed.* and imagine that you are making love to a beautiful woman, and imagine that that woman is a succubus. Pleasuring yourself may help with the process but I doubt it.
Step 2: A Succubus should come within the next couple of weeks. Pretty easy right? Well yeah, but I'll also give you a little bit more.
A succubus will probably first contact you through weird tinglings and feelings in your legs. It could be either leg at one time or just one leg all the time. For me its almost always my right. Then you will feel and almost out of body, tired feeling in your brain. Almost like being numb. Then you will start to feel the pleasure part, in your genitals. It might feel very intense, or it might not, but it usually feels pretty good. Overtime, the succubus might start appearing in your dreams, or you might feel her presence more and more. She might start contacting you a lot, almost everywhere you go. The key is when you feel even slightly aroused, they start doing their thing. The amount of pleasure might vary based on how aroused you are at the time, but it might not as well.
Also, it may be possible to commune with your succubus, depending on their personality. They can read your thoughts.
Well, that's all you really need to know. Good luck summoning your succubus, and have a nice day.