This is quite a common probelem, while you do seem to be lucid, you have to remember that lucidity doesn't always mean realism and control. If you have this problem again, I suggest that you try to focus on something logical (such as a simple maths problem), it seems to get m in control of my mind in those situations. Or, if you have some control over you actions, you should try rumming your hands together or spinning. Something that will make you use your senses.