It sounded like you were aware so it must have been a LD! Congrats!

There are a number of things you can do to become better at LDing. You can start recording your dreams everyday, practicing reality checks everyday, becoming more aware of your daily surroundings, and practicing the use of auto-suggestion. The following will help greatly in your chances of becoming lucid spontaneously, a technique known as a DILDing (Dream-Initiated Lucid Dreaming).

However, there is another technique that is a fair bit more reliable, but at the cost of being a bit more of a hassle. Basically, you remain conscious all the way until you fall asleep; this is known as a WILD (Wake-Induced Lucid Dream). It can be very exciting entering the sleep stage/dream world whilst remaining conscious. WILDing is also how I got my first LD. So check it out if you're interested. Just food for thought.