Is this a lucid dream? Please help.

I've been trying very hard to lucid dream for a while now and have tried just about every technique. Last night I think I may have had my first but it wasn't anything like I imagined. I always hear that when in a lucid dream you say to yourself "I'm dreaming, I know I'm dreaming". I didn't do that. Yet I could control my dream completely. I drove to a guys house, drove home with him on his four wheeler, took him into my bedroom and began kissing him. I knew what I was doing and I even consciously said things to him beforehand. I'm worried it wasn't a real lucid dream because I didn't mentally tell myself "I'm dreaming". Can anyone help me figure out if this was indeed a lucid dream? Any help is appreciated.

Sounds like a lucid dream to me!
Just because you didn't tell yourself 'I'm dreaming' doesn't meant it wasn't lucid

Were you at all aware that it was a dream, or did you believe it was real?

Either way congratulations on your lucid :)

That sounds like a lucid :) If you are aware of the fact that you dreaming, that is already considered a lucid dream. The fact that you were able to exert so much control on your first lucid is amazing! Congrats!

Well, it could have been a regular dream. The way I know if my dreams are lucid or not, is when I truly become lucid, I feel a huge head rush, followed by clarity. I'm not saying that this will always happen for everyone, but usually something substantial will happen that will make it obvious you're lucid.

I share the same view as ThAta. It could have very well been a regular dream. As far as my comprehension goes of this dream, it seemed like you had dream control, but you didn't state anywhere that you were aware that you were dreaming.
Sorry to bum you out, but it didn't seem like a lucid to me.
Just keep trying, and you'll get there.

I'll go ahead and play devils advocate here :)

The OP did say "I knew what I was doing, and I even consciously said things to him beforehand." While it might not have been the most optimal level of lucidity, I do believe that there was still some lucidity there, enough so for the OP to exert some control over the dream.

To the OP:
Next time you even think its a lucid, stop everything and ground yourself in that dream. Perform multiple RCs and integrate your senses, say phrases such as "increase lucidity" aloud. It does sound like you had SOME lucidity, but were more just passively interacting with the dream.