Well it sounds like you're getting too excited when entering your dream. Tell yourself, yeah I'm lucid dreaming, so? Make it seem like no big deal. Then stabilize your dream. There are many ways to do this, feel objects around you, eat something, listen to sounds, observe detail, rub your hands, and many many more.

Also, when dreaming keep remind yourself that you're dreaming and doing RC's to stay awake, and gain more control. If you haven't already, try some new techniques. Happy Dreaming!
Welcome to DV!