If at any point you realized that you were dreaming, then it was lucid, even if you couldn't control it. There are some good tutorials in the wiki section of the site that you can check out for techniques to use to have more LDs and learn to control them. Some of the techniques include DILDs, WILDs, and MILDs. WILDing (wake induced lucid dreaming) is pretty difficult so it's best not to start with that technique. DILDing (dream induced lucid dreaming) is when you just realize you're dreaming within the dream, like what you did in your first LD.
Two of the most important things you can do are keeping a dream journal, and doing frequent reality checks (without letting the reality checks become an unconscious habit).
When you're in the dream, try touching different objects and spinning around. Stimulate your dream senses to stabilize your surroundings.
Check out Puffin's DILD Guide and various other tutorials. Good luck
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