Strangely enough, I experienced the same thing in a lucid dream the other night. I tried to climb out of the bed but it was like I was half paralysed and like I was suffering from the flu. I put so much effort into trying to stand to hand rub but I woke up. I have made a mental note to hand rub after I've RCed when having a false awakening in future.

The important thing is to concentrate on the feeling, the sensation of your hands rubbing together. After that, it's also good to touch objects (I like to stroke my bumpy wallpaper) to stabilise.