Nowhere? You are having lucid dreams already for ducks sake. Learning to maintain the dreams is another thing entirely. Also the tingling arms are your real arms in sleep paralysis, or at least that's what happened to me many times just before or during them. Just ignore it, it's not real.

Also try to take lucid dreaming a bit more loosely in your lifestyle, it can quickly become too much to handle. Mindfulness and some RCs along with remembering dreams should be just enough. But yeah, depends on the person.  

Pretty much, if you don't just give up completely.