I've been in your shoes until recently. All this reading about SP and Hypnagogic Hallucinations made me freaked to even go to sleep normally. Then one night, I woke up in the middle of SP and all I experienced was coloured swirls and shapes and the vibrations associated with SP. Nothing else. Next thing I know, I'm up and about, dreaming

It wasn't nearly as scary as I thought it would be. Now, last night, I did a WILD with full awareness and intention of going into SP, HH and then the dream. And all I noticed was this:
1. Noise (like on the radio when it's off-tuned)
2. Vibrations
My heart didn't even race anymore, I didn't freak out, I didn't panic.. it was almost enjoyable. This is my 3rd WILD.

So, from a fellow-scared-person: it takes some getting used to. Once you've experienced it a few times, you'll be fine with it. Also, your LDs will last longer, be more vivid and you'll have more and more awareness and control while in the dream.
My progress:
1st WILD: just awareness that this was a dream, and very basic control (put my finger through a window's glass) + interaction with DCs. (not aware that they were DCs)
2nd WILD: awareness + flying. ..well, floating. But it counts. + interaction with DCs. (not aware that they were DCs)
3rd WILD: awareness + flying + interaction with DCs *aware* that they were DCs.