First time lucid dream

I never know when I'm dreaming, they always seem like real life. When crazy shit happens, I never question it, just enjoy or panic, depending on if it's good or bad. I fell asleep after being awake for a couple of hours, that's when the weirdest ones happen. My husband came home early from work, said he messed up. As we were talking, he pulled a happy black and white guinea pig out of the couch, it was Polly Prissy Pants. She died about 7 years ago. I saw her and blurted out, "Wait! Am I awake?". He laughed and said, "No!". I said, "So I'm dreaming?". He said, "Yep!" and continued to talk. After a while, I noticed the time (9:35), I got mad at myself because I had yoga class at 9:30, so I missed it. I asked him again if I was dreaming, he said, "What? No." which threw me into a panic. He was on the couch, then he was gone, and back again. I didn't know it was a dream, I couldn't get out of it, until I woke up gasping for air. Glad I'm awake and can carry on with my plans for the day. First time realizing I was dreaming, hoping I can recognize it again, baby steps!