Hello, OnATrip and welcome to you as well
Ok, what you’re dealing with is very low lucidity, and it goes back to the same root. If you don’t believe you can do it, you can’t. Think of it this way, if you think “I don’t have any hands” you’re mind will receive that message that and you will consequently have no hands. My initial reaction is to tell you to just do it. Don’t think about it, just bring your hands together and rub as you would in RL.
Other than that, there are some things you could try to get your lucidity up. First, once you go lucid scream or think “lucidity x1000,” or “control x1000” if lucidity sounds weird. Saying things out loud in dreams is one of the most powerful tools for beginning LD’ers. Another trick: you mentioned that your ND’s seem a lot like movies. Well, when you become lucid just imagine that you are watching a movie on T.V. Just look away from the screen and what do you know? You’re back in your own [dream] body.