If you were aware in the dream, as in feeling yourself mentally present at some level, you were lucid. But if you don't think you were lucid just because you couldn't control anything, know that control has nothing to do with whether you're lucid or not - you can have non-lucids about telekinesis, but lucids where you can't control anything. So it's really up to you to make a judgement call based on that.
If you don't believe it was a lucid, at least your mind is getting used to the notion of LDing - after all, the stuff you've learned about it has just transferred into your dreams! I often have dreams about being lucid, but it's only part of the dream plot, and I'm not aware on any level (even after 2 years of LDing I get them).
To kick off lucidity and actually being aware in the dream, you have to be aware in real life. When you do your reality checks, don't make them a habit. And by "habit", I mean not just doing them whenever you feel like it, and without really considering whether you're dreaming or not. You have to question things at some level, and look around you. The action of doing an RC won't cause lucidity so much as the actual mindfulness will.
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