 Like one researcher finds it helpful to repeat a mantra, like, this is a dream, I am dreaming, to stay in it. By the way, we're just scratching the surface on lucid dreaming techniques. There are books that will walk you through it in much more detail. One author to look for is the researcher I just mentioned, Stephen LaBerge. He was one of the first people to prove in a lab that lucid dreams are a real thing. He did this back in the 70s and 80s at Stanford.