Lucid Dream- Recognizing you are dreaming while in the dream.

That is all it is, nothing less, nothing more. People seem to associate Lucid Dreaming with control, or vividness, but Lucidity has nothing to do with those directly. As long as you realized you were dreaming while in the dream then you were lucid.

People often associate the control and vividness because lucid dreaming makes those two easier to accomplish, but they have nothing to do with lucid dreaming themselves.