Hi Menelaos, welcome to DreamViews!!
It sounds like you woke into sleep paralysis. This can happen if you wake up very abruptly - sometimes your mind keeps dreaming for a while even after you wake up.
That isn't lucid dreaming - the definition of lucid dreaming is that you know you're dreaming while you're dreaming. Well, maybe in a weird way that could be called a lucid dream, but I consider it more of just an SP episode. In a lucid dream it's more like you're completely in the dream world but you just suddenly realize that it's a dream.
Being lucid doesn't mean you can control your dream - dream control is a separate issue - you can be lucid with no control or you can have dream control without lucidity.
However, sleep paralysis is one way of achieving lucidity that many people pursue. There's a technique called WILD (Wake Induced Lucid Dreaming) that involves going through sleep paralysis. You might want to look up some of these terms in the DV Wiki: Wiki - Lucid Dreaming - Dream Views.
Anyway, while I don't believe what you experienced quite qualifies as lucid dreaming, it was close, and I think you should look into it further - if you can have experiences like that, then you can become lucid too.
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