I'd say you likely haven't lucid dreamed, because it's a you-really-know-it feeling. You realize you are dreaming "Oh, I'm dreaming right now. I'm lying in my bed, and dreaming this place", and you can decide to do things - but you also have to be careful not to become too lucid and wake yourself up (usually I do this by calming myself down) and not to fall into a "real" dream (I find that spinning in circles makes you more lucid... but don't do it too much, else you'll just wake up! It's hard to balance)

I used to be able to do it a lot when I was younger - it still happens to me every once in a while now. But you KNOW when it happens - it's not at all like "a really real dream", it's something completely different.