I have been lucid dreaming for a while now and, I know this sucks but, I get so scared that my dreams will turn into nightmares while I'm lucid that I panic and try to will myself to wake up but nothing works!

Any suggestions? I think once I have a better waking up method I'll be less freaked out about actually exploring my dreams but as of now, I just keep struggling to wake up and have false awakenings and panic.

Any of you have some strategies? Please and thank you!