I had a lucid dream last night!!!

There was some hectic chase scene going on (I was being chased across the farm where I work). This Act of the dream ended (I tend to dream in Acts).

I then found myself talking with a friend of mine (a rare event in a dream for me, to be engaged in conversation, oddly enough this is what I love to do most in life) and realized he was looking and acting sort of weird and then suddenly I went totally lucid. I had the presence of mind to stay calm, tried to focus on the things around me but it was too much, I got too excited, then scared and the dream stopped. I am hesitant to say I woke up because I did not recall being lucid in my dream until I woke up and did some real world stuff in the morning.

So, this is exciting for me but I need some help. How do I stop from getting so excited and scared by the fact that I am experiencing a dream? I really want to stay calm when I go lucid and be present and explore the dream world, which is something my dream recall lacks anyway, that is, details and imagery. My dreams are not vivid and the recall is very linear plot based, not image based. How can I see more of my world in my dreams, move more slowly and stay calmer when I go lucid? Thanks for any ideas!