Legs and arms moving on their own

Hi, the last couple of times I have lucid dreamed during a nap, before or after the dream, I will be lying in bed after I have fallen asleep and my arms and legs will start to slowly move away from my body or up in the air on their own and I can't control them or move for myself. I don't know if i'm actually in sleep paralysis or if i'm dreaming that I am paralyzed.
Usually I get tired of it because it's kinda freaky and try really hard to move and wake up, but today I willed my body (without trying to actually move) to flip over onto my back and then I was transported into a lucid dream. Have any of you heard of this?
It has happened about 4 times in the last month, so it's not an anomaly for me or anything. I am now counting it as a dream sign and am learning to not freak out and wake up, but to will myself to go into a lucid dream state.
Thanks do much for any feedback and happy dreaming!

The closest I've heard to what you described is something people who practise astral projection (similar to lucid dreaming) experience, phantoms limbs doing something else where-as their real body counterparts aren't doing anything. :)

Yes! I thought about that too! But, I can't control my limbs at all, and usually in astral projection people can control themselves fairly well. I probably just need more practice :P Thanks!

Practice certainly helps! But also I do recommend somehow taking advantage, like be patient as you can with it and see what happens, if it does turn into an astral projection exist then you can easily just turn that into a lucid dream. :D