yes that definatly means you had a lucid dream, as long as you knew that you were dreaming then you had a lucid dream. control comes later, some get control on there first try and some dont. i think what you experienced was WBTB or somthing im not quite sure what its called. but it means that you wook up in a dream in your bed. im not realy an expert but im preaty sure that's what you experinced.

some one want to correct me on this go right a head