You can try several methods but nothing is foolproof. The following have been found effective by people.
Bug Repellents: Kill the food source of lizards and they will go somewhere else.
Trap them with boxes and throw them far away. Doesn't really work that much.
Sticky paper that is used to catch flies can be used to trap lizards also but in a larger quantity.
Repair the cracks in the corner of the windows and doors of your home. This will minimize the chances of lizards entering your house, as they generally get in through small cracks and holes.
Remember that lizards are predators of different insects and bugs. If you get rid of lizards, be prepared for bugs.