I wanted to know since this is a challenge for me.. I've had only very few long lucid dreams, like 5 minutes.. I can't seem to do more than that.. My average lucid time is like 1-3 minutes and some I've had is just less than 10 or 30 seconds.. Is there some way to improve this other than rubbing hands or circling around?? and how long can you stay lucid and how can you do it?