Welcome cp,

If you are realizing your situation but waking up, you are 99% there. The next time you realize it, commit to not becoming too excited. Read up on all the tricks for prolonging lucidity and try to maintain your conscious state the next opportunity you have. The basic challenge once lucid, is to not get too excited or, on the other hand, too relaxed. Too much excitement results in you waking up. Too little focus results in the dream slipping back into normal mode. Hope that helps!