Congratulations on the success, and don’t be worried by the quality of the dream. Don’t be worried about the level of control. That all comes with experience. It took me so long to learn to have lucid dreams that lasted more than a few seconds. Just keep going.
If I might add, in my experience the most important thing by far is awareness. Mantras are nice and all, but if in an ND you tell yourself you surely aren’t dreaming, it doesn’t matter. I wrote this article almost a decade ago and I still swear by it The Importance of Awareness
In fact, DILD and RCILD are still the main ways I become lucid. They are also the only methods I know that frequent LD’ers use. I do use other techniques like WILD and MILD when appropriate, but awareness is what made the main difference.