I believe I know what you are talking about.
I'm not sure these really are lucid dreams but the beggining of them as you're in a intermediate state where you are still conscious of your body but starting to see imagery (and not the hypnagogic imagery and day dream fragments)

I've been able to get past this stage. You should focus like said before to remember that you are dreaming and on the images (and sounds) you may be see. Try walking around the environment you see. Don't focus on your body but if you do, after a while you'll get used to it (I know, the sp feeling is extremely weird)