Was my dead grandfather visiting me in my dreams?

I had a dream that I was at my grandma’s house for Thanksgiving, but my deceased Grandfather was there. Immediately when I noticed him in the dream, I became aware. I knew that he wasn’t alive in real life, so I think I was lucid dreaming, I don’t know if that is the correct term. So I told him I loved him and missed him to see what he would do, because I knew I shouldn’t tell him I was dreaming. He just started to pucker up like his crying face and started crying and I hugged him super tight and that was it. I could feel his embrace, and the emotions were super high. I woke up so grateful I could hug him one more time because the hug really did feel real.