Sounds like some sensations that could be attributed to out of body experiences or just HI maybe. One thing that could help: once you get into the lucid dream engage your 5 senses and solely put your awareness into the dream. Touch the ground, feel the air brushing against your body, hear the birds on the tree nearby chirping, taste a blueberry off of a blueberry bush, smell the warm apple pie that that is being made in a house nearby - any of those will work, but try to engage all of your 5 senses. That always works for me no matter what, and I'm betting it'll solve your problem. Once all of your attention is in the dream it seems to stabilize very well.

My dreams stabilize even better if I retain self awareness the entire time I'm in them. Check into that if you want.

Hope this helps.

OneUp