Hey, and welcome to DV!
The first part, until you were back in your bed, was definitely a lucid dream. But, you did wake up for real. What you experienced when waking up is called sleep paralysis. It can be a scary experience, but it's completely harmless.
When you're asleep and dreaming, your muscles are paralysed to prevent you from acting out your dreams. Actually, we go through sleep paralysis every night, but when we talk about sleep paralysis on the forums here, we typically mean sleep paralysis experienced when awake. But sometimes, for some people, their bodies doesn't come out of sleep paralysis the moment they wake up, or they fall into sleep paralysis before they fall asleep when they are about to, rendering them partially or completely paralysed for from anywhere from a second to around a minute. Some people also only experience sleep paralysis once or a few times in their lifetime.
When in sleep paralysis, you might experience hallucinations. Like your face being stretched back. It's also common to feel chest pressure and inability to breathe, and your body feeling heavy. Again, all this is completely harmless.
I hope this eases your worries. There are lots of members here who actually try to induce sleep paralysis (which is abbreviated to SP).
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