My First Personal Tahajjud Prayer Experience

Assalamu alaikum, everyone. I grew up without being taught how to pray properly - I was just told to mimic others during family gatherings. Today, I came across an animation showing a sister performing tahajjud, and it inspired me to try it myself for the first time. I set up with the Quran beside me and followed along with the video. The first rakat I mirrored her movements, and during the second I read directly from the Quran. Honestly, it got a bit messy when my prayer clothes slipped during the second sujud - I was trying to hold everything together while continuing (pretty embarrassing, lol)! I ended up completing four prostrations total. Later I read that specific duas should be recited while in prostration - I didn't vocalize them, but I did reflect on their meanings in my heart. My question to those more knowledgeable: Will Allah accept this prayer despite the imperfections? And is it possible to perform it again now? It's currently 2 AM here.