Welcome! What you're experiencing is probably sleep paralysis. Before the name scares you; it happens every single night, to everyone, so our real bodies don't act out our dreams. So it's actually nothing to be worried about!
If you do happen to wake up while still in sleep paralysis, keep calm and try varying your breathing to let your body know you are awake now and it's time to turn paralysis off. Try not to jerk out of it as that may make it last longer, as the body may think you are still sleeping/dreaming.
Lucid dreaming is great, there are no reasons to be afraid of it (as far as I know) If you are having nightmares I would recommend giving lucid dreaming a try, as it can help you get over them e.g. by turning the demons into cake or similar.
You may or may not be aware of this, but you can do whatever you want in a lucid dream, literally anything (except maybe time dilation) but you get my point. 
I'm sure people much smarter than me will link you to some other threads where you can learn more about this stuff! But feel free to PM me you have any other questions, or post it in a thread on the forum!
See ya!
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