Hello and welcome to Dream Views.
You've overcome the first hurdle, experiencing a lucid dream. Future LDs should start to become more vivid and longer.
One thing I tend to do in a lucid dream to stabilize it is to really take in the dream scenery. Once you stop and marvel the world you created it makes the place more solid.
As for recall, a fairly stable sleep pattern and dream journal can work small miracles.
Hope that helps. See you around.
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