I think the fear is what made this happen. Next time you lucid dream, calm down. Just be calm, relax, look around you. Take in what is there. You don't have to do anything major until you feel comfortable. Remember, this is YOUR dream. If something bad happens, you can always wake up
Ok, questions.
My lucid dreams are dark too. But you can brighten them up! I like to change the moonlight brighter, or make the sun rise. I've also created glowing orbs to float around and provide light.
Getting control takes time, and I doubt you'll get full control in ever lucid dream. It'll probably vary. But Mzzkc has a great guide on archtypes you should look up, it'll give you ideas for getting control. It's down to practice and belief.
I'm not religious, but I don't think it is because it's not real. It's not going to hurt ANYONE. I'm fifteen too, I know what you're going through dude

Although I'm not Christian so I don't know. I guess it's what YOU to be considered a sin. But as I said, no one's getting hurt. And sex is natural. Your hormones are going crazy... Eventually you'll probably just have a wet dream anyway.
Hope that helped

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