Hi-
Yes, I would definitely count this as a lucid dream. Reality checks aren't really a requirement: lots of people become lucid spontaneously in their dreams, so it's really not all that strange. If you knew that you were dreaming, then you were lucid (congratulations on the second lucid dream, by the way. :3) As you said, you did know, and spinning around and rubbing your hands to try to stabilise the dream indicate that this is true. Sometimes lucid dreams are not that vivid, especially if you're not fully immersed in them due to either having low awareness or being close to waking up; this in itself doesn't mean you're not lucid. Once you are lucid, though, you can work on increasing your awareness and the vividness of the dream even more.
The sleep paralysis thing has happened to me also...it is strange, and it can be difficult to tell when you're actually awake and experiencing "real" sleep paralysis and when you're just dreaming of it. As you are usually closer to waking within the lucid dream than your average normal dream, it is possible to either wake briefly and then go back into the dream (also known as DEILD) or to start becoming more aware of your sleeping, paralysed body while still within the dream (either because you're very close to waking up, or because you start to think of it when you realise that you're dreaming and become aware that your "real" body is actually still lying in bed.)
Really the best/only thing you can do is to continue to work on lucid dreaming and in time, you'll have much longer and more stable lucid dreams which you'll be able to stay in before waking. c: This may sound strange, but be careful with the spinning; some people seem to find it really helpful but I've personally found that spinning really fast actually disorients me, causing me to wake up more quickly. If you spin, try to do so as mindfully as possible, focusing on the sensation of your dream body spinning and also on everything around you - also maybe try going slowly, or your vision will naturally fade. Once you have some stability at least, perhaps it's better to try focusing on what's already there, slowly and mindfully taking in each sight, sound and sensation...all I can say is keep trying, and keep experimenting, and frustrating experiences like this one should become less frequent ^^ Good luck.
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