I'm Rul. Currently 16 years old.

Lucid dreams have interested me in the last year or so.
I've realized I've had quite a few, not knowing what the actual word for what it was called.

In many of my dreams I can think, understand, and am fully aware of what I'm doing.

Lately, though, I've been wanting to get more into my dreams. I've been having one reoccurring dream I will get every couple of months or so. It's been going on for years, since I was an elementary schooler, at least. It feels like it will last a good 20 minutes or so, but I will wake up right when I'm supposed to understand something that I know is important. I would like to understand, or are there any tips to make my dreams last longer?