Sounds similar to something I experience from time to time.
I've had "half in half out" lucid dreams before, where I'll be awake in my body (sometimes not even laying down) and yet simultaneously inside a lucid dream, and able to walk around. Usually for me it's a product of certain induction techniques (The technique in the post I have linked in my signature is one such technique that gives me this) that skip the need for sleep paralysis, and it also only lasts for a short while before I become fully absorbed in the dream, my body paralyses, and now I'm fully immersed and unaware of my real body.
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