Lizards can easily be caught by trapping them in a box or chasing them out a door. After they are gone, a few things will keep them from returning.
Lizards are skittish and will run when a human approaches. If they are by the door, simply use a stick to push them towards it until they run out on their own. Another option is to get them into a box. Place the box on the floor and they should run into it to hide. Put a piece of cardboard under the box to trap the lizard and then carry the box outside and release the lizard. To make a home less inviting for lizards, remove any food they can eat and place items such as moth balls and peacock feathers around the home to deter them.