Yes, you were definitely lucid. As long as you know you're dreaming - no matter how long the dream lasts after that, or how much control you have - it's still a lucid. Congrats
As for controlling your dreams, a good rule of thumb is basically to "know" what's going to happen next. You open a door, and expect a certain location to be on the other side. Turn around and expect a certain person to be there. Expect a person to act a certain way, or say a certain thing (yep, even controlling dream characters is possible). This principal can be applied towards virtually anything in your dream - it's all about expectations.
It's good to go into a lucid dream knowing what you want to do. Personally, I visualize a certain dream scenario I want during the day, so when I become lucid I know exactly what I'm doing.
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