Really engage yourself in the dream, a good way to be aware in the now and physical reality is to be aware of the breath.
So why not try it in a dream? When you become lucid tell yourself to be aware of your breath to ground yourself. Breathe in through the nose hold it for a little and then breath out through your mouth and hold it out for some time, then repeat the process and at the same time to some basic stabilization technique like spinning but still maintain the awareness of the breath.
And as Invasion said, in order for what I am going to mention now to work, you need to be aware of each action, not just robotically doing it because of memory. That is basically what a robot does... Do stuff because of information programed into them, but we are not robots! We are aware beings. We have intention and awareness.
Back to topic:
Then scream: I am dreaming! And really try to understand the concept of what that means. In the beggining you need to have lucid dreams like this short seconds long and not much awareness, because when you no longer wake up you need to try to understand what it really means to dream. For example you have to be aware of the dream situation, in the beggining you will be convinced of weird thing. Stephen LaBerge took the example of chasing an important bag in a non-lucid dream but when he become lucid he still chased the bag even though he was lucid. This dream situation awareness is something that will come by itself in time, but just try to have it in mind 
The second step is that you have to be aware that you are in control of the dream. So just consciously chose to fly and when you can have dream control without waking up you can move on.
Third, you now have to be aware that your physical body is in your bed sleeping, however the first times you think about this you will probably wake up, but it's essential to be aware of if you want to increase the awareness of your dreaming self. The next step is to be aware of dream characters, for example when you see a friend in a dream try to remember that they are not real, have it in mind I am still struggling with this from time to time so I actually don't have a solution.. yet ^-^
When you are aware and understand all these four concepts while dreaming, you are what I would call fully aware of your thoughts and memories/ perhaps subconscious.
There are more awareness-obstacles along the way to full awareness, like even though you know the dream characters aren't real, they don't themselves know it, they are your subconscious so this will automatically work as the characters in Inception the defence mechanism that will be angry at you and do everything in their power to make you forget that you are dreaming.
When full awareness is reached (the full awareness of the self). Then the awareness can be expanded, what that means is off-topic so I'll just say that full awareness of the self can lead to astral projection.
Good luck in your quest of awareness
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