Is this lucid dreaming? How to prevent it?

So I would say maybe once or twice every few months I go into what I think are lucid dreams. I normally go into a normal dream which I can control (e.g I might think to myself don't jump in the river but I will instead if that makes sense). I then wake up or I think I have as I see my own surroundings but then I realise I am still in dream state as I can't move. I may also hear voices shouting at me or music and sometimes a person might be in my view or an animal e.g one time I could see I was lying in my bed and then a snake went up to me and I woke up. Is this what lucid dreaming is?. Although they only last a few minutes I find them pretty scary. Anything I can do to prevent it?