I find this concept so interesting, two dreams two worlds.
A world of control, a world of chaos.
A dimension of freedom, a limbo of imprisonment.
It almost seems as if they are complete opposites at some points.
I have not lucid dreamt but I have had sleep paralysis.
I hallucinated and felt as if my chest was being dug into with knives. I heard satanic voices as well, and I felt as if someone was leaning over to my side breathing in whispers.
Even if I would have had the urge to turn to it, my body was a locked casket.
I struggled till my breathing became rasp of survival.
My eyes free of the curse frantically moved side to side searching for an escape.
I tried closing my eyes but they were pinned to my sockets.
I stopped struggling, submitted to the gashes being etched into my chest.
And escaped.

Haha I had sleep paralysis, this was it for me. It was freaky and I was terrified for months I thought it was some satanic thing at first. It's inspiring now. If you get in that situation the best thing to do is realize you are having SP and to relax.