Hi Justin, Welcome to Dreamviews! The forum here is really great, and you will learn a lot!

What your a describing is continuing a dream from the past. Some people here do this, including me several times.
It really depends on the person how long it takes to have your first lucid. Just keep practicing! If you haven't already I would definitely take a look at Puffin's Beginner's Guide To Lucid Dreaming! It has a lot of helpful information and will get you started.

I think a good technique for you would be MILD. After you read through Puffin's guide you should check out Naiya's MILD Technique.

How is your recall? I would recommend starting a dream journal.

Good luck! If you have any questions feel free to message me!