[ Psychology ] Open Question : How to Lucid Dream? Please help me with this?

I have always been interested in Lucid dreaming, Controlling what you want and whenever you want, it just so exciting! but I can never seem to have it happen, I only think it happened but I never end up controlling it, maybe its just a dream but it seems to real that if I try harder I will be able to control it. Whenever I sleep around 8pm I always, and I mean always, wake up at 4am in the morning. When I try going back to sleep I always feel like something is trying to close my eyes and my body is paralyzed. When I fight back I always get out of it, Makes me scared going back to sleep. But the thing is, When I don't fight back the sleep I dream, I dream to most random things ever but when I am there I can't control it, I just let things happen. Yes it could be a dream, but this happened very recently when I slept over at a friends place, he left to go check on his spine so I stayed back to go to sleep. It was 7am and he didn't get back till 8am, so I was bored and went back to sleep but was aware that the same thing will happen and it did! only this time I was paralyzed and I heard very loud pirate music *sound weird right?* and I was fully aware of whats happening, I was very scared so I shouted I am dreaming! and I tried waking up. I woke up and I looked around and I just yelled out something random very loud. I looked back at my time and it was 7:54am almost 8. I really want to lucid dream but I need to stop thinking about frighting stuff. I need to fully control whats around me, but whenever I am in a situation like dreaming I always feel scared that something might happened and I cant seem to stop thinking about it. So that causes nightmares. I want a way where if I were to Lucid dream, I could erase my thoughts of anything scary and actually fully do what I have always wanted in a dream. People say its a wonderful experience. Is there a way to have a Lucid Dream and not think about anything frighting while in one?