Hola there,
Congrats on your first lucid dream!
Yes, it was a lucid dream. Although it is possible to simply dream about lucidity, the difference lies in consciousness. From the description you gave, it sounds very much like you were able to make conscious acts, "chosing to do things", in other words, and that's definately a quality of lucidity. In regular dreams we don't really chose, rather the choice is made for us and we just sort of passively go along.
As for false awakenings, they are fairly common. Some people have then more then others. They are very common after lucid dreams though. Quite a lot of lucid dreams will end in false awakenings, which has even led to people making techniques to become 'lucid' again in the false awakening dream. They call this 'chaining' of lucid dreams.
Good luck on your next one!
-Redrivertears-
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