Congrats to you on your lucid!

Most people get lucid because they realize something is off, or it just happens. That's why it's important to question reality and practice daytime awareness - check out the tutorials in DV Wiki.

After you realize you are dreaming, you do RC, to confirm, that you are dreaming. RCs don't get you lucid, but they can confirm dream or reality.

Yes, what you had was a DILD. Don't beat yourself down. You did the best thing by not trying anything too wild. It probably would have awaken you.