I see people here telling you what to do when you are lucid. But that doesn't help you when so far you only think you may have been lucid a few times.

Now I'm saying these people are right, I agree with them, but you are either in a regular dream, or lucid. You may be close to lucid while in a dream, but you're still in a dream.

Since you can't make yourself do these things while in a dream, you need to take them with you BEFORE you get there. Thats where R.C.s come in, as said above. You do these to arm yourself with a little timer in your head. Do enough of them, and odds are one will spark off in your head while you are asleep, dreaming, and boom, you're in....to you're own head.

Well done.