Look for patterns throughout your dreams, and more importantly, learn to distract your brain.
For me, once i realize that it's a dream, i start to wake up. If this happens, you will need to distract your brain to keep the dream going. The best way to do this is to do tasks that involve a lot of balance or coordination.
Another thing that will help is visualizing what you want to dream before falling asleep. This will make it easier to lucid dream, as the idea will be fresh in your mind.
Also, listen to this as you fall asleep, it will make your dream more vivid and much more consistent:
happy dreaming