Yup, as long as you knew you were dreaming while you were dreaming, then you were lucid dreaming 
I always do a bunch of different reality checks, that way if one doesn't work I can hopefully catch it with the other two. What reality checks you do really depends on your personal preferences. I tend to try to read text, to count my fingers and look at my hands, and to try to push a finger through my palm. If I'm still having trouble but really think it's a dream, just looking around and observing what's going on can help. Ask yourself how you got there- do you remember going to sleep recently? What did you do right before you got there? Did you put the clothes that you are wearing on? Is there anything that doesn't make sense (ie, a stranger in the basement exercising )
When you do a reality check, you should ask yourself those questions too, not just physically do the check. And a bunch of reality checking when you first become lucid can help with confidence, which can give you that better dream control and let you fly easier! Good luck next time
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