My LUCID dream??

This is the 2nd time I experienced the following. The first was about a month ago. As I lay in bed, around midnight, I started hearing footsteps coming toward me. Real footsteps, I could hear them clearly. I thought it might be my daughter, when I looked nothing. Closed my eyes again. I then start hearing my toy helicopter zooming around. It would stop then start again. At that point I realized I was in a semi dream state. I told myself to picture green leafs.. and I could see them clearly.

At this point I was in control. I decided to roll down a hill. This is what I did the first time, and I just wanted to make sure I had control so I did again. Whats weird is I just told myself to feel myself roll. I didn't picture any hill or myself going down. I completely sensed it. My head was spinning. I was getting dissy. I then tried to get up. I tried to lift myself up but my arms just moved slightly. I was struggling to get up. I was getting scared since my head was spinning and all I wanted to do was get up. I abandoned moving my arms and went for the toes. They started moving. The back of my head felt like it was going to explode. I felt tremendous pressure, like my brain expanded, then I awoke. Is this what is considered Lucid dreaming, or is it something else?

Welcome to DV, maldor.

That sounds like a lucid dream to me. You were probably right on the edge of sleep, with hypnagogic hallucinations and sleep paralysis. Have you read up on peoples' descriptions of their WILD experiences? It sounds like you had an unintentional one. You should try it again to see if you can repeat the experience.

I often hallucinate voices, footsteps, and other strange things. Once, I was lying in the guest room, and I swore my girlfriend was watching old Roseanne episodes, even though I know we don't have a TV. Strange stuff. During this transition, it is normal to feel intense physical sensations like movement, pressure, electricity, or vibrations.