I experienced that a week ago and it was sort of weird:

I tried to WILD so I went to bed normally. The light's were switched off and soon I came to an interim state of dream and reality in which I knew that I was still awake, but could also see and feel things that were dreams.
I'm new to lucid dreaming (managed it 2 times until now) and somehow WILD would not work this day - somehow I did not manage to fall asleep when somebody came to help me with it. o_O

This was very odd, because I knew this dc (it actually was a character of a game I had played a few hours before), he treated me as if I was his girlfriend or something. It was weird because I already could control him like i normally do with people in dreams, but on the other hand he said and did some things I did not effect. I told him that I was trying to gain a lucid dream and he seemed really puzzled, as if I had gone crazy, but then he decided that I looked ill (I had that image of a jittering me inside a dreamworld) and wanted to help me by just sitting there with me.

It was disturbing:
I felt the sheets of my bed as well as his hand on my shoulder.
I must have drifted off then, because I fell asleep and did not have a lucid dream, but I'm going to try it again tonight.

The real question ist:
Is it normal that this happens and dc's really sometimes help you to get lucid?
Maybe I was lucky and that was a very nice dc?
Or was that just a wish that got stuck halfway between dream and reality?