Why not have your first goal be something like; "Stay in the dream for one minute, and stabilize as soon as I reach lucidity". To stay in the dream you have to relax. Most people have trouble doing so and I was extremely excited when I had my first few when trying. It will pass and you'll have longer and longer ones in time.
Also, to make the dream stable, engage your senses in the dream. Rub your hands while counting your fingers. Try to see details and feel the texture of your hands. Smell them, taste them and listen to everything around you. Usually activating your sense of touch and sight is enough to make the dream stable and last a while, but if you intend to keep the dream going for a long time, then activate all five.
Forget about your body in bed, never, EVER think about it and try to get as lost in the dream as possible without losing your lucidity. Do regular Reality Checks like rubbing your hands to make sure it stays stable and you know what you're doing
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