What was happening?

Last night I was trying to fall asleep I was lying on my back and I remembered hearing something about looking to the left or right it was part of some lucid dreaming technique that I read about during the day. It said look to the left or right and just think and wait around after a while when your eyes roll back and center themselves you will feel more aware that was all I remember from it. So after a while of lying in bed with my eyes closed and looking to the right I could feel my eyes center. I didn't feel more aware but my feet ang legs began to feel heavy and I felt a big strange fear. I couldn't tell what I was afraid of. I had been already trying to sleep for about an hour and I didn't want to open my eyes but I felt so close to sleep but the fear got so big that I had to open my eyes , so I did. I opened my eyes and looked around and I felt stupid for opening my eyes . My legs didn't feel heavy anymore and I wasn't scared anymore. What was going on?! Why was I scared why did my legs feel weird?! I'm really confused it took me about another hour to finnaly fall asleep.

It sounds like you had an encounter with sleep paralysis. This causes your body to feel "heavy" and can frighten a lot of people. You just have to keep in mind that it is entirely natural and in no way can it harm you. You pretty much have to conquer the fear. After that SP will be a welcome sight as it signals the beginning of falling asleep and a potential lucid.

Don't worry bro, it happens to everybody, I always get so excited when i near sleep paralysis that I just focus on what i'm going to do in my dreams and crap, causing me to either lose sleep paralysis or fall asleep without lucidity.

Yep definitely SP setting in there. You were so close! No worries though. If you would like to harness that state you can use it to achieve WILDs :) Next time ride it out and just let your body and mind take the course (while remaining conscious of course) and see what happens. You may very well at the end find yourself in a dream.