I need some advice (not a dream)

Date: 7/3/2016

So I have a weird thing where I can get myself into a lucid state whenever I try to sleep but am only half asleep and often get vague dreams and dark scenes. No matter what I do I always end up sleep paralysed, like as if people run towards me then pin me down to the ground, or something similar, like last night I was in a semi dream state and somebody was under my back as I lay and started putting their fingers down my mouth and I felt really uncomfortable and due to the fingers, unable to call for help. Does anyone know how to solve this? As I am aware that I'm dreaming in this state but panicking too much to do anything about it. It's worth noting that I don't use any kind of technique during these attempts, and I do this right away when sleeping, not waking up during REM. I had one lucid dream after sitting through some weird hallucinations and dreams, but no luck since. I hope someone knows what to do because it can be very unsettling