1 - rigorous Dream Journalling
2 - Thorough observation
3 - constant reality checking
4 - confidence

and rubbing/observing your hands is a lucid stabilising thing; not a lucidity method. you are supposed to do it ONCE lucid.

Number 3 is particularly important for you. Should put you into control, as opposed to being a "lucid spectator" (to coin a phrase). It seems you can realise you are dreaming...but without proper reality testing...this will be fruitless.

goodluck