First lucid! A few questions

After a few attempts at a lucid dream I finally got one! :D

It started in the street across the road from a friend's place and i saw a washing machine in the driving seat of my mum's car. A police woman on a horse was watching it intently, then walked way. The dream soon reset and the police woman on her horse were there again, which was when i became lucid. I was so happy and ran inside my friends place and found a wall. I always wanted to walk through a wall so I tried and I couldn't pass through on the first go. I stopped and told my self it was only a dream and I could walk through the wall no problems. Then, to my delight, I did! Ready to try something new I tried to think of something fun but the harder i though about things to do the more i felt detached from my body and this eventually led to me waking up. I could almost feel my brainwaves changing from very relaxed to the same as if i'm wide awake

My question is, how to you think normally inside a dream without waking up or having the dream become hazier. Or does this eventually not became a problem as you get more experienced?

Which Teahcnique did you use for your lucid ?

i guess it was a DILD, more of a fluke than anything

This will get better with practice, but here is a simple idea to help. I hear some people talk of hand rubbing? Maybe this was in a book? Anyway it sounds like one of my methods. When you get lucid rather than explore and play, focus on solidifying you body. Look at your hands (thank you Castanada:)) try feeling something like your other hand. By focusing on a small simple familier scene (your hands) you can bring more clarity to your mental functions. When you see your hands clearly and feel like your thoughts are kind of clear, go and explore. If you start to slip out of focus, stop, look for your hands again and touch something (maybe a tree trunk) and really limit the veiw (just a hand and tree trunk) regain your composure and then go back to having a good time.

i'll definitely try that next time and try not to get too carried away :)