Based on your post it seems as you've done everything right. In my opinion there isn't any right or wrong way in WILDing, each individual is different. The fact that you transitioned into the dreamstate conciously, means that you at least were lucid at that point

. (When you realised your foot was on the ground)
There can be many reasons you didn't have that "lucid feeling". I don't know which questions to ask, cause there are many. But i'll go with these two
What happened after transition? Details, if any?
How did the dreamstate feel? Control, Colors, Senses, Awareness?
Greetings

, Tucane
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