Hey hey! Grats on your first lucid dream (P.S. Welcome to the forums. )! Always an exciting experience. Lucid dreaming is a skill, and just like any other skill you get better with practice. Dreams can vary a great deal, lucid or not, from extremely hazy and blotchy looking to an almost heightened feeling of reality that isn't possible in the real world. When you get better at lucid dreaming you will learn to control this to some extent. Rubbing your hands and focusing on the feel of the friction and heat has been known to work will with some (never tried that one). The idea to improve clarity is to use all (or many) of your senses.

For example, I had a lucid dream that started off really blotchy. It started fading a little so I ran up to the nearest thing I could find (which happened to be a large pine tree a good 5-6 feet in diameter) and ran my hand over its rough bark. I smelled the sap, felt the bark, and focused on what it looked like. Took roughly 1/2 a second and the dream shifted to clarity that mimicked lifelike realism. Maybe I just go lucky, but using your senses always helps.