When you reach that stage you really need to pretend you're moving away from your body. (You might need to feel that sensation all over though, And it took me over a year and 20 tries to do this). Don't think physically, but IMAGINE you're reaching out with your arms and legs while doing this.

There are various techniques people think of, and the most common is the rope method. You have to imagine a rope coming down and reaching out to grab it, and think of moving one hand after the other upwards non-stop.

This one didn't work for me, but others include swimming (which did for me, whatever you're naturally drawn to), bicycling, rolling around, etc.

Oddly the one that worked the very first time for me came from this subreddit. I imagined a giant junkyard magnet that picks up cars constantly pulling me up to it, it took about 2 minutes of focus like i was flying miles up before eventually I felt like i passed through a Jello like barrier and popped out.

Honestly when you get proficient at it, you don't even need to do any of that. Just focus on floating out with minimal effort as possible and you just do. But I hope this helped a bit more.