You're not doing anything wrong. That time you separated and landed on the floor was a lucid dream. If you feel a dream body that is separate from your real one you are in a lucid dream. The dream just isn't behaving the way you're wanting it to.

Quote Originally Posted by isthisit View Post
Last night I sat up fully, but just couldn't get into a dream. It was like an OBE rather then a dream it was so real.
Lucid dreams do feel that real. That's why we do this. My guess is your knowledge of OBE's is skewing your perception. Your subconscious has tied these strange experiences to what you know about OBE's instead of tying them to what you know about lucid dreaming. You said yourself that these feel like OBE's and not lucids. If you feel you're getting OBE's then that's exactly what your subconscious will give you.

Just know that an OBE can become a lucid dream in an instant. A lucid can become an OBE. But you don't exactly get to choose which experience you get at the start. The choice is made at a subconscious level. But if you're getting OBE's you can still consciously manipulate them into lucid dreams by focusing on what you know about dreams.