Being lucid and having good dream control are two different things--you can have one, or the other, or both at the same time. So you can certainly be lucid without being able to control anything. I would say that if you didn't realize you were lucid, then it wasn't a lucid dream, but I would definitely say it was what Patricia Garfield would call a "cooperative" dream--one that shows you're heading in the right direction.
Keeping a dream journal faithfully and making brief notes after waking up from dreams during the night will help your recall, and consciously noticing sense impressions when you're awake may carry over into your dreams--being aware of what you are seeing, hearing, smelling, etc.
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