Hi :-)
I have had lucid experiences like that before. What I usually do is relax in the dream as much as I can and let the dream pass before me. If I have to interact with a dream character then I respond as calm as I can until things get clearer.

I found out in the past when I try too hard to focus on the lucid state things become over lapped, foggy or not clear. I like move around and do things that I want to do in a lucid dream by just sensing the surroundings. I just think of it like a sensation.

How can I explain myself. Hmmm. Let's see, right now you are reading this posting and at the same time you can feel the temperature in your room. It may be cool or it may be hot. The part of your mind that controls the sensing part of what you are feeling on your body while you read this is the part of the mind I use to control my lucid states. It's like relaxing in a pool you just need to let yourself relax and take whatever is to come and once there experiment.

Good Luck
Do let me know how it goes :-)