Most nights now I have a partial lucid dream, its like a strong day dream where I can order my dream self to do things by thinking I want to do this but I cant control it like a real body. My head is pretty clear although my thinking gets cloudy at times. Can anybody help me past this stage?
When did this “lucid dream” occur? Did it suddenly come to you as you were lying in bed, or after you fell asleep? 
One thing that happens, especially with beginners, is that they try for a really long time to get their first LD and when it finally happens they have so many things to do their minds are bombarded and they lose control.
Focus on being lucid at first, try and work on being more conscience once you become lucid. You will find that this really helps clear things up and will allow you to stay lucid longer and have a more rewarding experience.
Odds are what you see as lucid dreams are called hypnogogic hallucinations. They happen when your brain isn’t asleep but isn’t quite awake either. Basically, you’re having a really strong vivid daydream before you actually fall asleep, which is why you don’t actually feel your body. Try and focus on keeping lucidity during these and you might be able to WILD into a full LD.