Originally Posted by
KingYoshi
Mantras can be tricky sometimes. If you are focusing too much attention to your mantra (which it seems like you are), then it can absolutely prevent you from falling asleep. The idea is to kind of passively repeat your mantra while allowing your body to fall asleep. It can be difficult to find that perfect balance of your attention (especially if you have trouble falling asleep anyway).
What I like to do, besides repeating a mantra, is a bit like how actors get into character. Basically, you need to convince yourself and truly believe that you will have a lucid dream. Upon laying down to go to sleep, convince yourself that you are an excellent lucid dreamer and you will easily become lucid. Truly believe that there is no chance of missing out on lucidity and fall asleep simply expecting to have a lucid dream. I use this to get out of dry spells.
About your dream, if you realized you were dreaming, then it was a lucid dream. You simply had a control issue, which is very common for beginners. The easiest way to improve control is through experience and practice. Once you get a few more lucids under your belt, the control will begin to get easier for you (it took me weeks to learn how to fly properly). Good Luck to you and I hoped I helped out a bit.