Hello WaspNestEscape,

As Ladusense said, you experienced a DILD. You became lucid after the dream had already started.

Going for sex in a LD is great, but you might consider developing some LD skills first. There will be plenty of sex to be had later. If you spend a minute or 2 just checking out your dream environment, thinking about the fact you are dreaming, you will still be greatly entertained. In fact, it can be mind blowing. This will give you confidence which will be very helpful in having all that great LD sex you desire.

Good luck!