Summarize this article:

Use the remote or close the door manually. This will allow you to access the tracks and the rest of the moving parts on your door. Before lubricating your door, you'll want to make sure that it's not on. Disconnect your garage door from the power source after you close it. If the plug to your garage door opener is hard to reach or hard-wired, turn off the breaker that controls it in your circuit box. The tracks are what the garage door rollers ride on to open and close. You don't want to lubricate these, but you do want to make sure that they are completely cleaned out for your door to operate correctly. Wipe down the inside of both tracks and remove any dirt and debris.  Make sure that there is no debris left in your tracks that the rollers can get stuck on. Use an automotive brake cleaner to loosen and wash away grime. If you are having issues getting debris out of the tracks, you can use a vacuum with a hose extension to suck out the dirt and debris. This is a great solution to reach the higher portion of the tracks that you may be having issues reaching.

Summary:
Close the garage door. Cut power to the door. Clean out the tracks with a damp rag. Vacuum out dirt and dust from your tracks.