Thanks for all the suggestions you guys,
I had another lucid last night, my longest one yet (still only three minutes, haha- got distracted.)
Right as it dawned on me that I was lucid, I remembered what Buddy'd said about trying out all the sense. I was able to find some weird iceplant like substance arround me, and I was able to catch a scent from it. It smelt fresh, and suddenly, everything felt 10x more real, which was really cool.
It also tasted like sweet peas. I was able to walk arround (I was really impressed that I was actually walking arround in my own body instead of just hovering like a spirit. I was so impressed I started changing up my walk for fun.)
I got bored of walking, so I tried to fly, but a dream character distracted me, and I went with them for a walk instead, and we did that for like, 2 minutes.

The problem with this dream was that the whole time, I had this strange sense of my real body the whole time. Like, it was like, I clearly knew about my body lying in bed while I was doing all these cool things, and it made the dream seem less realistic then all the ones I'd had before. Involuntarily thinking about the other body was what made me wake up. Otherwise, this would've been my coolest and longest lucid yet. What can I do to not think about my real body, I've never had this problem before.