Leaving the matrix

I'm not physically in the dream yet, I'm watching what this girl I know is doing. She told me through texting on the phone that she was picking up a friend that she was going to have over, and I thought nothing of it, until I was randomly in the back seat of the van she is driving and they don't see me yet. I listen to her tell her friend about me, and then the friend say hold on, and that she knows me, so I look around the car seat already recognizing the voice and I see that it was my best friend throughout elementary school. Then I think about all the ways this is bad, and then they park in the street and get out with bags, and I jump out and before they can see me I hop in the drivers seat and speed off, (here I become lucid, and don't care about the crap that just happened) I realize I'm in a lucid dream car and wonder if this is how it's like to drive a car in real life, I'm swerving but having fun and I'm in my childhood neighborhood so I turn around the block but then I try to do a u turn twice but I can't master this lucid dream car so I get out and summon a bike and continue strolling down the street, (here my lucid dream fades back into a regular dream :/ ) I see other people on bikes riding towards this house on the corner and now it's night time, there's a bunch of teenagers dropping their bikes then walking up to the front door so I do the same because I fit in and no one will notice I wasn't invited to this birthday party, theirs older adults in the garage having beers and watching a tv, I see this younger boy with blonde hair, he walks up to me and asks me if I want him to sneak me some cake and soda, I tell him that would be bitchin, so he goes in and I wait, he comes out with a plate with lemon cake and a can of coca cola. Then he goes back to get him some, I try the cake and it's awful and gritty but I eat it anyway. Then I wash the horrid taste with the soda. Then me and the boy go into the garage for some reason and I can see the adults looking at me weird like they're wondering if I am their child's friend and was invited or not.