I've only had a handful of lucid dreams, but I have a theory on how movement or touch can help you to not necessarily remain lucid, but at least help prevent you from waking up. It could help with maintining lucidity if you can associate it with your movements.

The source of this idea came from an LD that I had where when I became lucid everything started to go black (as is normal for me for some reason), and I was afraid that I would wake up in a particular position. However, when I woke up I realized that I wasn't in the position that I expected to wake up. Thus, I had an idea whereby I would move around when I became lucid, mainly by rubbing my hands together, and thus keeping me in the dream. I neglected, however, to remind myself that I was dreaming, but nonetheless I remained in the dream and hope to take the next step soon.

Anyway, I thought I would share that. As for "programming" yourself, all I do is decide ahead of time what to do when I become lucid; it's about forming a plan and sticking to it. When I become lucid I know to expect the blackness and the feeling that I am going to wake up, and so I usually do a reality check and then start to rub my hands together. Combining that with a reminder that I am dreaming, I am confident that I will be able to remain lucid longer than I have in the past.

I hope that this was helpful in some way.