It comes with experience and practice. One great idea that was suggested by someone (I forget who) is to stand in an empty room in real life and pretend that you just realized you were dreaming. Do you get all excited, or do you stay calm, cool, and collected? Do you attempt to make the dream clearer? Do you expect to wake up at any moment? You really want to get in the habit of stopping whatever it is you're doing and focusing on a very certain aspect of the dream. DO NOT think about waking up or your dream body. This exercise can take anywhere from 30 seconds to several minutes to complete.
But yeah, the more you do it, the easier it will become to maintain lucidity. Good luck!
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