I've had this problem allot, and it was quite simple when I worked out how to do it. Just DO NOT! think about your body, or waking up, or thinking about that your about to wake up. Concentrate on scenery or talk to characters in your dream to divert your attention away from waking up.
I did this and stayed lucid for a long time, until I got a little worried that the lucid state was going on for to long, and that something may of happened to my body. At which point, I forced my self to wake up.
I did this and stayed lucid for a long time, until I got a little worried that the lucid state was going on for to long, and that something may of happened to my body. At which point, I forced my self to wake up.