I agree with the rest. Ground yourself! What I like to do to ground myself is to just touch anything within your reach. Just run your hands along different objects around you. Is it soft like wool, or bumpy like gravel? Can you grab onto it? If you can, how does it feel to grip it? Can you squeeze it like a foam ball, or is it hard and sturdy?
I don't know if you've heard of mindfulness meditation, but this is essentially what I try to do when I first become lucid; be aware of all of your sensations, and really take in everything around you.

I hope this helps! Good luck!