Hola,
For the most part I'll add my voice what Spartiate said, except that I think that hand rubbing (or more generally paying attention to your dreamsensations) does in fact prolong your dream. Its a technique I very often employ to do just that.
(Also, general concensus these days is that dreams are not directly linked to REM, so the lenght of your dream would not be determined by the lenght of the REM period.)
But yes, remain calm, don't feel rushed, don't feel stressed. Act as though you have all the time in the world, and pay enough attention to the dream itself. Its very easy to get so caught up with 'thinking' in your dream, about your dreamgoal, about how to control this or that, that you withdraw your attention from the dream itself. That too is a sure way to wake yourself up, at least for me.
Additionally, set dreamgoals beforehand. And repeat them to yourself often. Hopefully they'll be with you in your dreams (but it depends on how lucid you are). Without solid dreamgoals, lucid dreams often end up quickly for me. With a dreamgoal, it's usually easy to make it last until the goal is completed.
For me though, remembering my dreamgoal usually doesn't happen right away. It often takes days of weeks of repeating my dreamgoal to myself before I actually remember it in my lucid dreams too.
And lastly, accept that some dreams end prematurly, no matter what you do. You take the good with the bad, and don't let yourself get worried or stressed over it.
Just my 2 dreamcents,
-Redrivertears-
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