Congrats on your dream!
One method I heard about to help make dreams lucid more often is this:
Every time you walk through a door, touch it, and ask yourself "am i dreaming". Of course you aren't dreaming, but if you do this every time supposedly you will eventually touch a door in your dreams and you will ask yourself "am i dreaming?", and you WILL be dreaming which should instantly make it lucid.
It's interesting though, because after a while your brain starts playing tricks on you when you ask yourself "am I dreaming?" in real life. Sometimes the room seems to get brighter or kind of smaller for a second as you realize you aren't dreaming.
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