If at any point you thought/said "this is a dream" then it was lucid, but you may have just immediately lost lucidity, this has happened to me before where I became lucid and then my friends showed up and I then I talked to them about how I was just lucid dreaming, and then went on with the rest of a normal dream. Very frustrating, just have to reaffirm that you are dreaming right in the moment and keep lucidity.