First actual lucid dream

i'm laying in my bed and i'm about to slip into nonlucid dream world, and outa nowhere i instantly become aware of whats going on.
it felt like i was falling through my bed at an accelerating pace, but for some reason slowly enough not to pass all the way through my bed, i can't really explain it any better than that.
I got out of my bed and I knew i was drreaming!
I got really excited so i started walking, and it felt like my body was on some internet game and i was lagging, it felt like i was moving at about 50 FPS. i was making very sharp movements.
i began walking out of my room and i walked right into my grandparents room and i saw them just laying in bed watching t.v. and at this point i was no longer lagging.
I told them "HEY!! I'm dreaming!!! This is a lucid dream!"
my grandparents looked at me and one of them said "No, Kyle, your not dreaming! Go back to bed!"
after they said that, i got really disscouraged. on my way back to my room the only thing i could think about was "My grandparents must think i'm on drugs!"
i laid back on my bed and woke up.
I should have done a reality check!!!!!
i've been trying to do this for about a year and a half now and i finally get it, and my grandparents tell me to go back to bed!
i hope i can start getting more lucid dreams now that i've at least done it one time!