What did you do from the time you were fully lucid to the time you became semi-lucid? A lot of times people will lose lucidity because they get too involved in a task, like trying to control something, and they lose focus. Continuing to do RCs from time to time can help to keep you focused and grounded in the dream. Clarity increasing techniques are also helpful.

Dream spinning and hand rubbing should work pretty easily on their own, it doesn't really take practice to get good at it. You could also try paying attention to small little details in the dream in order to increase clarity and lucidity. Ex: picking up some sand and feeling it in your hands, staring at it close, etc.