Hey Nefar - congrats!

DILD, WILD, or whatever, it's ALL GOOD! Personally, I think you may actually have had a WILD. I have developed my own little technique in which I picture my bedroom (since it is a very familiar place) while WILDing. This way, I have imagery I can "see" and not have to burden my mind with creating anything. This allows me to keep concentrating on my awareness.

What you experienced sounds very similar:
I woke up in my bed during night time when it was dark outside and I knew that I am sleeping in reality now druing day time.
You'll see in the thread that I was successful with this technique numerous times. Even though I stopped posting in it, I continue to have success with this method.

The dream ended in the part where I was taking off her panties
Heh, yep - very common with new LDers. It's hard to keep the excitement level down enough to stay in the dream. But, practice with this will help!