My discharge is not a liquid, I do not know how to describe it but it looks kind of like lotion but thiner though not as liquidy as hand soap,

Is this normal?

From the sounds of it, yes, its normal.

Women cycle and have distinct patterns of cervical fluid. One of those is described as "creamy" and is similar to white hand lotion.

The only time you should become concerned is if you notice a pungent smell or have an itching/burning sensation

I always get a white-ish colored discharge around the middle of my cycle.
Like LearningAsIGo said, as long as it does not smell then there should be no problem.
Colors to watch out for are yellow and green, that is a sign of infection.