Hi I have just read your lucid dream experience, and I am convinced u have had a lucid experience. I have lucid dreams for many years now, but now I know how what it really is. I think Leo is right about the preperation. Since I have lucids quite regurarly I planned to fly in the dream.
Last week I had another one. I was standing in my room and talking to one of my dear friends. Then I recognized the floathing feeling that I get with these dreams and I told myself lets try to fly. Slowly my body began to take in a vertical position and I was floathing in the air. I wanted to fly around, but where to? The door was closed so I could not get through, then I woke up.
So you can have something in mind before you go into lucid, but you have got to be prepared what to do next when you find yourself in the situation. I think flying is a little bit to diffecult for me, cause where too? I can floath through the house and trade places easily in my dreams. So for my next lucid I have to think of something else to try...
Good luck on the way!