If you
consciously rubbed your hands together in the dream for stabilization, then, yeah, you were lucid, congrats! Being lucid doesn't always mean having perfect control and/or recall.
In my DEILDs, I seem to be able to actually act out in the dream, but not in my DILDs. In DILDs, I'm always on autopilot, as you said. It's weird, because I'm aware that it's a dream, sometimes I even say it out loud, but I seem to just run with whatever was happening before I became aware,
without wanting to. Sometimes even when I'm DEILDing everything seems fine, I do my stabilization techniques, check out the scene, do as I please, etc., but as soon as I wake up and think back to it, it just feels like a big non-lucid. As if I can't actually remember
consciously doing any of those things in the dream.
I believe you were successful. Maybe it was just a matter of the dream not being vivid enough or stable enough that gave you that sense of
was I really lucid?
Congratulations and happy dreaming, though, I'm sure you've got a lot more LDing to do!

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