Alright this was my first time being lucid and not waking up

My DC decided to do a reality check and found out he was dreaming and started spinning in circles, i then tried turning these guys into penguins but it would not work then i got bored and decided to have sex and then woke up

The thing is, i felt i was half aware i was dreaming and half not, i was lucid for some minutes then i become non-lucid then lucid again