Welcome to DV, efflorescence! It is unfortunate that you were introduced to lucid dreaming with a scary experience. Most lucid dreams for most of us are highly enjoyable and do not have the scary aspect that you described. Therefore, I would suggest that you do not expect lucid dreams to be scary. In dreams often expectations cause results, so if you as a result of this experience were to expect your next experience to be scary, it would be more likely to be so, than if based on what you read on this site you expect lucid dreaming to be fun, and start looking forward to it in the future. Our perceptions can and do change potentially negative experiences into positive ones. Knowing that nothing can hurt you makes even a more negative dream more enjoyable, and can transform a potential nightmare into an interesting adventure. Good luck with your exploration of lucid dreaming!