So I guess about a week or two ago now I had lucid dream that I meditated myself into with the WTBTB method. Upon becoming lucid, I did ran around the mall and used some force type blast on a DC. I then heard a voice, guiding me, almost like a tutorial. It opened a window in the wall for me and we I went through it I was outside of my house, and everything was as it would be normally. I flew around and into the house across the street were I saw the family just waking up, some were in the kitchen. No one could tell I was there, even when I touched them, no response.

Could this have been an astral projection?
If so, I think the voice could have been my higher self or a spirit guide, is that a possibillity?