Hey there,
Some very good advice above already. There's two other aspects that I think I can add:
a) Don't worry about the dream ending or waking up
I know this can be hard, especially in the beginning, but ideally you should do the 'grounding' thing as part of your normal 'becoming lucid ritual', and not 'to prevent you from waking up'. In fact, you want to avoid thinking about waking up as much as possible. You especially want to avoid being worried about waking up, because worries and fears make themselves come true in dreams.
Try not to be worried about the lucid dream ending and waking. Remind yourself in advance that you have all the time in the world. That the only thing that's making your dream prematurely end is your worry about it. Keep your attention firmly on the dream itself and banish all thoughts of your waking body from your mind.
b) Set yourself dreamgoals
Try to set yourself dreamgoals in advance. This will help keep you engaged, and help the dream going until you've 'finished' with your dreamgoal. Keep it simple in the beginning. When you get better at prolonging your lucid dreams and achieving your goals, you can begin to expand them.
Often, people have only one true goal: "to get lucid", so when they do finally get lucid, their goal is fulfilled, and the driving force, the motivation, simply falls away. They wake up because they've done what they set out to do.
So make sure you know in advance what you want to accomplish when you get lucid, and try to recall this dreamgoal immediately when you do finally achieve lucidity.
Hope that helps,
-Redrivertears-
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