It can go a couple ways from there. I've experienced both.

One is to watch the hypnogic imagery (HI) develop until it is solid and three dimensional. You must do this without losing awareness. Then you have to find a way to get into the dream. This is the tricky bit. For me, I need to sort of let go of it all and just know I'll remember in a couple minutes, because if I don't let go I will wake up. It's like letting myself fall at that point - fall asleep. When it works, I will find myself fully in the dream and lucid.

The other way is to concentrate on the sensations and then just get up - right out of your body. This one is a bit weirder but actually more reliable for me - it doesn't require that leap of faith to get into the dream. When I do that, I find myself in my same surroundings (or very close), and having to prove that I am in a dream with an RC. This is what many choose to call an OBE, but I've tested that repeatedly and know it isn't... not in my case, anyway.

From there you can spin yourself into another place, find a mirror to walk though, find a door that will take you somewhere or just fly through the roof and head out.