I've got an idea. Why don't you make a step by step procedure to do whenever you realize you are dreaming. Practice it in the daytime, and each time you practice in the daytime tell yourself you have nothing to fear.

It could go something like this:

1. Take a moment and calm down, trying to suppress excitement and or fear.
2. Tell yourself, "this is a dream, and I will do it no matter how much I fear it"
3. Stabalize. (I do not recommend dream spinning. Instead, just feel everything in site. rub your hands of whatever texture you can find to keep your mind occupied with dream senses.

Make sure to keep it fast. A long series of steps could cause you to become distracted and lose lucidity.