Lucid Dream Clarity and Quality

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I have been trying vigorously to have lucid dreams for awhile now with not too much success though I have had two lucid dreams. Sadly, both were of fairly poor quality. They both were very short(30 seconds max on both) and it was as if there was no background. Just blackness and maybe some gray fog. I've heard of people "popping" into their lucid dreams, where they become as vivid or even more so than reality. This was not my experience. Plus my recall of the dream was not as great as I imagined from what I have read. Does anyone else have this problem or no know how to fix it?

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The quality and length will improve over time and as you get more experience but one thing you want to make sure you're doing is stabilizing. As long as you really anchor yourself into your dream and immerse yourself into your surroundings. This should help with the quality and reduce the fogginess and the lack of a background. This can also help with length. Stabilizing consists of becoming "one with your dream." The most common way of doing this is by rubbing your hands together which causes you to focus on the heat and sensation it causes. If you've every practiced ADA or SAT it's very similar to that only in a dream. The goal is to become in tune to your 5 senses with your dream. The more detailed you do this the more effective it will be. If you don't stabilize the length and quality of your lucid dreams can suffer greatly.

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I did actually try rubbing my hands together when it felt like I was losing control and I think it kinda helped, though I didn't focus on the heat really. Next time I'll try tune in all five senses. I thought about maybe trying actually saying, "I'm dreaming" to see if that does much. It still seems odd to me that my dreams are so dark. My normal dreams are more colorful and vivid.