Hi there Sxq Power

Well, usually when we are kids, we used lucid dreams to escape from nightmares. Alot of the lucids from when I was younger was during a nightmare. So I guess thats what happened to you. Also to answer your question about doing stuff that you haven't done in real life. Your mind works out what it would be like and how it would feel. So if you dreamt you would sky-dive, your mind would try to work out how it would feel. Your mind is really powerful and usually is very accurate with this sort of stuff.