How many have you had? I have this problem still sometimes, but it used to be much worse with my first lucids. Just gaining experience with what it felt like to be conscious in a dream seemed to help me get accustomed to being in a dream. I found that a lot of what I would do when I became lucid would marvel about how my body was laying in my bed. I'd spend so much time thinking about my body in my bed that that's what I ended up feeling, and then found myself awake laying in bed.
Try using stabilization techniques and just reminding yourself of your dream goals. Always try to get the dream nice and steady around you, and just like with scary things, try to complete erase the thought from your mind by instead getting psyched up with reality checks, textures, sounds, etc. from the dream, and your awesome dream goals and how cool they are going to be and how excited you are for them. Just immerse yourself in it, and also look ahead to your goals instead of worrying about whatifs.
And remember, there's always the DEILD technique. Get very familiar with it so that even if you wake yourself, you're in the perfect position to get back into the lucid.
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