Welcome Emmadreams16 
First of all, great job on achieving a lucid in that short period! It's not common for people to achieve lucidity that fast, but it happens. My first lucid couldn't happen any time earlier xD Your dream recall certainly helps due giving you a better sense of your dream environment. Keep going!
Regarding your problem, you just need to focus on your stabilization skills. Take a mental note that you'll stabilize as soon as you get lucid, because if you planned your intention before hand, all you need to do is recall it when you reach lucidity within a dream. Try reading this tutorial for some tips on how you can stabilize the dream and not wake up right away. You may require a few tries, but once you learn to "calm" yourself, you'll see that it's just a question of focus. You can also take a look at this recent topic regarding how to prolong dreams, maybe you can get a nice idea from there 
Any more questions just ask away, and good luck on your goal
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