I get it almost every night, have since I was a kid. It's really not scary after a while, I usually just relax and fall back asleep when I wake up with it, or if I know I have to get up, I have a few tricks I use to pull myself out of it. Like getting enough energy to roll over if I'm on my side, or keep wiggling my fingers or toes until I finally wake up, though sometimes I do have trouble and I usually just move my foot as much as possible until my girlfriend notices, since I have told her what to look for if I'm having it.
Just know it can't kill you, you will wake up before you choke or anything like that; if you are able to relax, you usually can go lucid by falling back asleep.