The moment you have realized that you are in a dream, you are already lucid. 
As for staying in the dream, there are a lot of techniques, such as rubbing hands, touching things, talking to DCs… take a look here.
The moment you have realized that you are in a dream, you are already lucid.
As for staying in the dream, there are a lot of techniques, such as rubbing hands, touching things, talking to DCs… take a look here.