Sorry your first lucid experiences were scary. I can guarantee you they're not all going to be that way, and I'd encourage you to stick with it.

Your experiences in lucid dreams are mainly tied to your expectations, so I think you may have doomed yourself from the start by thinking lucid dreams were terrifying. On the contrary, lucid dreams are typically the best way to prevent scary dreams. When you realize that you are in control of your surroundings and that nothing in the dream can hurt you in any way, it's an incredibly freeing experience.

I'd advise reading this tutorial on nightmares, especially the section on combating nightmares through lucid dreaming. Hopefully that will help you realize that there's no reason you should be scared about lucid dreaming.