Sense of touch is the most important for stabilization, very true. I noticed that in dreams where I'm going around naked (happens to everyone, right?! ) I can feel cold or heat on my skin - those dreams are insanely long and vivid. (they are non-lucid, btw)

Also, kissing seems to be good for that - there is a lot of...tactile action going on, like hugging and stuff
Although, excitement may kill it, so it can be counterproductive.