Am I close to being Lucid?

I lay on my bed, and get into SP to attempt WILD then give up after awhile and fall asleep. I always dream, and it feels like it felt real after I woke up, but the thing is, I had no control in those dreams (it didn't feel like that) and therefore I wasn't exactly lucid.
But when I'm in these more vivid dreams, it's like I wake up and go back to bed - then dream, and when I wake up from them I can remember everything that happened in detail.
I will almost believe that it did happen, confusing my dreams with reality. Although, I have no control to do whatever I want.
so, what I'm asking is, how do you get lucid while INSIDE a dream? DILD?

Well, while inside a dream you can either feel (and know) that you are dreaming or confirm that by doing a Reality Check.