Can't Get it Right

So when I was younger I would experience sleep paralysis. It wasn't until I told my brother what happened that I first learned about it and how he has been trying to reach that point and begin lucid dreaming. I thought I never wanted to experience that again as it kept happening and every time was terrifying. Now lately I have been controlling my sleep paralysis to the point where I am no longer scared. One day (call me crazy) I heard a mans voice talking inside of my head. I forgot most of what he was saying but I wasn't scared as much as I was interested and amazed. Now, I have been trying to hone in on my lucidity. I have achieved it once and got out of my body but when I tried to walk/run it was like going through molasses and then I "hit the wall" and fell back waking myself up. Ever since then I haven't been able to get out of my body or I move just really slow. Not to mention that my lucidity isn't consistent and when I feel close I wake myself up.

Anyone else experience this or have something to help me break free of this? I would love nothing more than to control my lucidity and explore what is out there. Thanks in advance!