My First Out-of-body Experience. I Think?

I'm not 100% sure what just happened but I think I just had an out of body experience?

I went back to bed this morning and that's when it happened. It started off as a very weird dream, I cannot remember the entirety of it but basically all my relatives where having a get together at my house and something was making panic.

Anyways, I was frantically running through the house almost in hysterics and all of a sudden I stopped. I was fine. It was like my conscious woke up and I was telling myself that it wasn't real and that it'll be okay. I think this is reffered to as a lucid dream because I was able to change my dream now that I was aware (like I noticed my dads and my room were in the wrong places so I swapped them so it was exactly like my real house).

I walked into my room and rested my head against the door and sighed again and told myself it wasn't real. Then the blue walls of my room started to fade out and I think I opened my eyes. I say I think because my room does not have windows and is very dark to begin with so my eyes very well could have been closed, but bottom line, I do know I was awake and conscious.

I tried to roll over and reach for my glasses but I couldn't move. I struggled but It was like these limbs weren't my own, or as if my whole body was in a caste.

My legs started to vibrate and tingle and the feeling went up through my body. I started panicking for real because I had no idea what was happening, and then there was the sensation. My legs felt like they were being lifted up in the air while I was still laying flat in my bed. Then came my torso and my head. They felt like they were rising (note I was still unable to move in a pitch black room).

Then all I could see was a black/gray and red room. It was kind of plushy and soft feeling but also looked like there was prison bars. Then I just heard this voice. It was deep and horse and sounded a little robotic. It said hello. The voice was very cold and unwelcoming so I got scared and screamed and I was back in my room again, complete control of my body.

I'm not sure if this was a real sleep paralysis/ out of body experience thing or not because usually when people talk about this they saw themselves and like they just walked out of their body themselves. This felt like I was ripped from my case and dragged to another dimension.

I want to believe it's a dream but I'm having a hard time just because I know I was awake. And also that voice. It just felt to real I could actually hear it coming from from behind me. Usually when I dream I just imagine people saying it, and if I do hear any voices it never comes from any general direction.

I'm just very confused and kind of scared and I was hoping someone would be able to tell me if I'm going insane or if this is an out of body experience and it wasn't just a weird dream. Do anyone else go through something similar?