If you recognize it is a dream, then it IS a lucid dream. Lucid dream means you know you are dreaming...The events you describe seem like lucid ones to me...

However, in answer to your question...I learned how to fly in my nonlucid dream. I dreamt I was flying and felt the wind in my face and what the sensation felt like all together. Now, I only realized I was dreaming when I woke up from the dream.

~Icy