Most of the time during a non-lucid dream the time it starts depends on your memory. The very beginning of a dream is often incoherent, jumbled, nonsense. You can actually witness the very beginnings of the dream state during a WILD (Wake Induced Lucid Dream). During this process you can witness the entire process of falling a sleep and your mind forming a dream. For a non-lucid dream, your memory usually begins once things stabilize and become more coherent. Same thing goes with lucid dreams unless you are performing a WILD, which you are basically entering lucidity directly from the waking state.
Now, if you are talking about staying lucid during the dream, it just takes some practice and experience. It is pretty easy to lose your lucid state in the middle of the dream. I lucid dream a lot and still lose lucidity from time to time. Once you become lucid, you need to stay calm and act as if this is a natural occurrence. Easier said than done, but the more experience you gain from dreaming, the more natural lucidity will feel. This experience alone can help keep your lucidity throughout the entirety of the dream. It is also a good idea to perform a reality check every now and then throughout the dream to remind yourself that you are dreaming. You could also simply tell yourself, "I'm in a dream" every now and then to keep your lucidity. I hope this helped some. If you have any further questions, don't hesitate to ask.
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