One big challenge with lucid dreaming is now waking up right when you become lucid in a dream. This happens because when you're lucid, you're already very close to waking up. So when you jolt your consciousness, it's very easy to wake up. About the only way to get around this to just try not to get very excited when your lucid dream starts. Once you become lucid, you then go to dream control. For example, if you tell yourself, "I'm going to fly!" you can probably do it. Most of you won't need any other help on this.
Though, some people might need to "unlearn" the restrictions of the waking life. This can be way easier to do if you got a spirit guide that helps you.
This can take practice. You might want to start with small things, like changing objects. Since objects normally morph or mutate on their own, this should be easy to do. By the time you've got this far, you shouldn't have much trouble staying lucid in your dream, and not waking yourself up from getting too excited.