hello, ive never lucid dreamt before except for a few times i would realize i am dreaming but very soon after id wake up. none have lasted for more then 5minutes o.O

So, my questions.
how do i lucid dream? and how do i not wake up once im aware that i am dreaming? i have a good imagination while day dreaming..but at night when im trying to sleep. nothing happends it just keeps me awake.