First Time Exploring Domination

I've been dating my partner, Sarah, for a few years now. We're both in our 50s and have a stable relationship, but lately I've felt the urge to explore something different. Last night, we decided to try out some light domination as part of our adult relationship dynamics. It was somewhat awkward at first, navigating consent, setting boundaries, making sure we were both comfortable with what we wanted to do. But once we started, it felt surprisingly natural and intimate. I took on a dominant role while Sarah played the submissive. She tied me up in a gentle way and let me direct us both through some playful but intense scenarios. Afterwards, I felt an unexpected sense of closeness and understanding between us, like we had shared something deeply personal. But now that it's over, I'm unsure if this is typical or if there might be aspects we overlooked. Any advice for someone just starting out in this territory?