As zoth said, you could very well have been half asleep, or you could've been just imagining the dream. Either way, it acted as good progress towards your ultimate goal of lucid dreaming because you were either:
A) Aware of the dream in this half-awake, half-asleep hybrid, and this is good practice towards being aware in your dreams when you are asleep.
B) You were subconsciously practicing your visualization skills, which are also useful when it comes to lucid dreaming as visualization plays a big part in setting intention or in dream control.
Regardless, you had an awesome sex dream. Nothing wrong with that...
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