Although you may get an occasional SP, they are not related to lucid dreaming. That's why SP is a separate phenomenon, that you are unlikely to get, unless you have an disorder. If it happens next time, you can try getting up from the bed with your dream body, or rolling out of your body.

But your best bet would be to try out some basic, classic techniques, that you will find here Induction Methods and Techniques
I would recommend starting with DILD. That will teach you all you need to know for WILD as well. Good luck and ask if you have any other question.