I think I can help. I've had sleep paralysis, night terrors, and lucid dreams my whole life. I can also offer advice on how to get them less often.
First of all, what you had was not a lucid dream. Lucid dreaming is where you're fully conscious and can control anything you want to in your dream (throw things without touching them, make anything appear, fly, etc) these experiences are usually very calming or enjoyable.
What you had was sleep paralysis. It is very common for people to have vivid hallucinations during sleep paralysis, but more often, it's hearing voices, seeing people walking around the room, or the feeling of someone sitting on your chest. To feel like you've left your body and gone somewhere else is less common, but not unheard of.
The best thing you can do when you're experiencing this is to be as calm as possible. Understand the things you're experiencing aren't real, and don't try to push them away or make them stop, but just be at peace. Focus your concentration on moving one part of your body, like you were doing with your eyebrows (for me, the first thing I can move is usually my fingertips on my right hand).
Now, the best advice I can give you is how to prevent sleep paralysis from occurring.
1. Do not work out directly before going to sleep. I found this was the main cause of my sleep paralysis when I looked back and remembered that they started happening more often when I started a new workout routine. Now I only work out first thing in the morning, it helps.
2. Never fall asleep on your back. I like lying on my back, but almost 90% of the time when I get sleep paralysis, I'm on my back. I find that if I sleep on my side, it is less likely to happen.
3. Get into a good sleeping pattern. Sleep 8 hours a night as often as you can, don't pull all nighters, and don't change your sleeping schedule from late nights on the weekends to early mornings during the week, it throws your internal clock all off. I find very often that when I get sleep paralysis, I am exhausted from lack of sleep.
4. Practice meditation right before you go to sleep. This doesn't have to be some kind of sitting spiritual experience that takes up a lot of your time. But meditation is the act of calming your mind of all thoughts, any time you realize that you are thinking of something, calm yourself and let that thought fade away, then rest with no thoughts again. Do not forcefully push thoughts away or think "I'm failing" if you think of something, just let it go like a passing cloud.
It takes some concentration, but I usually do this while lying in my bed on my back, then when I'm ready to go to sleep, I turn onto my side and doze off peacefully.
It's more common to get sleep paralysis when you're stressed out and have a million things going on in your mind when you try to go to sleep.
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On a side note, there are religious beliefs concerning sleep paralysis that are interesting to read about. I prefer the Buddhist belief that sleep paralysis and lucid dreaming is a sign that your mind is close to enlightenment. :)