It sounds like sleep paralysis. People experience numbness/tingling sensations if their between sleep and wakefulness. Some people also experience auditory hallucinations in this state, experiences have been described as either banging, glass shattering, even people whispering. Should you practice lucid dreaming you'll probably experience something similar again, but it's nothing to be afraid of I hope that eased your sense of paranoia, I understand how that could be frightening.

Good luck!