Stabilize the dream first once you get into it. You should focus on your senses and the realism of the dream. Then, stay mentally alert but not too focussed. Steady your thoughts and don't let yourself become too emotive. If at any time you feel your heartbeat in the dream, then that is very bad for your dream. If you get the feeling of butterflies or the hallucination of a heartbeat, it means you are letting your thoughts wander too freely and getting too excited. Here, (which is probably where you have your problem with) you can do two things: wake up and DEILD back into the incubated dreamscape or steady yourself. Learn the DEILD methods, they are great help. To anchor yourself to the dream, first rub your hands. You might hear this a lot, but it really helps. Really focus on how you are doing it. Next, do whatever you normally do for stability. After this (if your dream heartbeat has not stopped) you should collect your thoughts. You just stabilized your pseudo-objective world, now you need to fix yourself. So, find a collective theme of thought to focus on. Happiness, sleeping, math, the word lucidity, the dream itself, and KITTENS! are all good suggestions. It can be anything really. Anything except ANGER OR EXCITEMENT. After this you can let loose and explore your dream.
Also, what method are you using? If you are using DILD, are you using WBTB with it? Because mostly DILDs occur without RCs in the late morning. This means that it could just be that you were going to wake up anyway, no fault of your own. Try using an alarm clock for 4 if you sleep at 11 and such and such. If that is outside of your interest, then you could just RC more frequently.
And also, welcome to DV, but this post wasn't much of an intro 
Happy dreaming!
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