Is there a way to whiten your teeth at home, without any other products?

My teeth are in need of a little whitening, to say the least. Is there any way to whiten my teeth at home, without any other products.
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I've heard that the most effective DIY method is bleaching with hydrogen peroxide. One of my friends tried this one. She says the taste is just awful and she would better eat a dog. Actually that was funny as she almost puked :) I also heard that lemon juice and soda might help. You can google 'teeth whitening' or 'teeth bleaching at home' and there are so many offers to choose from. I also found some video tutorials about teeth whitening on youtube that might help you.
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