Lucid dream and real life at the same time

Last night I dreamed that I was the prince of some kingdom, and the King was going to be assassinated by his chief bodyguard. I'd spent most of the dream trying to find the King. When I found him, his chief bodyguard was attacking him, and it was some sort of green muppet with feathers. I thought, "Wait, this isn't right," pinched my nose, and could breath. I attempted to fly, but started to wake up. Struggling to retain lucidity, I rubbed my hands together, and felt my lucid body and main body at the same time. I then woke up.

Is there a way to return to lucidity when this is happening?

I've always heard it's best to imagine the last scene you can remember from the dream before you woke up, and just keep repeating it over and over in your head. Then, if you fall asleep, you should be back in the dream.

also if you don't move or open your eyes once you've woken up it's alot easier to re-enter a dream