I agree with Carmine. You were likely dreaming very lightly.

I've had a lucid or two where I've also felt my sleeping body. That's my sign that I'm about to wake up (usually) and rubbing my hands together helped me to focus on the dream and on my dreaming body. Everything went black for a while, but I kept at it and returned to the dream. The key is to keep reminding yourself that you're dreaming or you'll forget.

Congratulations on realizing you were dreaming, though