Last night I was lucky enough to have a chain of 4 lucid dreams each lasting 3-10 minutes. The first was due to a false awakening. I woke up in a strange room so I did the nose plug RC and found out that I was dreaming. I won't go into the content of the dreams here; the point is that when one ended and I woke up, I would lie completely still and focus on the strange room I had "woken up" in. I would tell myself that I would "wake up" there again, and sure enough it worked.
I'm not totally sure if this is what you are talking about, but I think so. I found that re-entering the dream became harder ever time, but that could have been because I had already gotten enough sleep and my body wanted to wake up. Anyways, it seemed like the key was to remain focused on entering the dream while staying relaxed. It seems somewhat contradictory, but that is the sensation I got when it worked.
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