Welcome to DV. 
Generally, two things make for a longer lucid dream: stability, and becoming lucid as early as possible. For a very long dream, you want to become lucid around the time that the REM period is at its peak, so probably 7-8 hours into the night.
So I would recommend DEILD, WILD, or autosuggestion that increases false awakenings. So if you're successful with these, with practice, you can have lucid dreams that are on average 20-30 minutes, up to an hour or longer.
As far as dreams that last 5-6 hours, technically speaking the brain doesn't have dream states that long, but you can try looking into a dream control technique known as time dilation, where you stretch time itself within a dream to make it last longer. Beyond Dreaming might be a good place to start with that.
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