Am I experiencing Lucid dreams

I realize that I am in a dream and when I realize that im in a dream the dream becomes 10 times more vivid and then I am totally aware just as I would be in this physical realm. I am also aware of having a full physical body in the dream as well.

After a minute or so of realizing that I am in a dream I will start to feel tinging all over my body in the dream and then it feels as if I am passing through some portal and then I awake in total paralysis and when I am in total paralysis I can feel what feels like a second set of arms move down and connect with my physical arms.

This has been happening more and more as of late.