If you had the realization that it was in fact, a dream, then yes it was. You don't need to have vividness or control for it to be a lucid dream, just the realization. I might not be the person to give advice since I'm fairly new to this stuff, but I can give it a shot.
First, you need to be on a regular sleep schedule. However many hours it takes you to feel somewhat refreshed and not completely exhausted when you wake up is good goal to shoot for. Then you need to start a Dream Journal. Every morning as soon as you wake up, just lie down and close your eyes, not thinking about what your day will bring but rather the dream(s) you've just experienced. Your recall should improve eventually, to the point where you can write 3+ dreams every morning. This is training your mind to recall your dreams vividly so that when you do have a LD, it's a clear and better experience overall. Now that's all fine and dandy, but how will you ever actually induce one of these lucid dreams? By checking throughout the day and asking yourself questions like, " Is this a dream? Where was I 10 minutes ago? Do my surroundings make sense?" If something doesn't add up, then you'll know its a dream. Pinch your nose and try to breath air through it. Count your fingers. These awareness techniques are called reality checks, meant to confirm or deny the fact that your dreaming. This method is called DILD, by the way (Dream Induced Lucid Dream).
Hopefully this helped, it's my first ever time attempting to help someone else lucid dream, so I might have missed something. There are many techniques to utilize and much to learn! Are you dreaming right now?
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