Does anyone have any methods for making a lucid dream last longer? Most of my lucid experiences are much shorter than non-lucid dreams. I seem to only have a few minutes, subjectively, to do things before I wake up. I've sucessfully spun to go back into my dream a few times, but many more times it's failed. I've also heard of rubbing your hands. Is this supposed to be like spinning?

Anything and everything you all might think will help.