FIRST LUCID DREAM! WILD. Don't know what to think of it S:l

so this morning i woke up around 4:15am and woke up. I was really grumpy because I couldn't go back to sleep(my mind was fully awake). So I decided that I would try lucid dreaming. I saw a post on lucid dreaming a longtime ago. After I did some research after my dream, I discovered that I had just experienced a lucid dream through WILD :D I felt as if my physical body wasn't comfortable (I was laying down on my side) and if I commanded my dream body to move it felt as if I would wake up any second :/
Is there anyone else that had their first lucid dream through WILD?
Do you have to wake yourself up after 6H of sleep in order to have a lucid dream or can you just go to sleep and have one?

Yes WBTB is a good way to experience a lucid dream.

I'm not experienced at this either, but from what I read at the tutorials, you have to wake up during or before an REM, which will be happening 6h after you fall asleep. That's why you have to wake yourself up after 6h of sleep and not at any other time.
Correct me if I'm wrong, please

It doesn't have to be 6 hours, for me it's earlier because my body wakes up very fast.