Lucid dreams in themselves are not satanic as far as i know and i do not believe there is any 'spirit behind lucid dreaming'.
It is a normal function that goes on in your sub-concious while you are asleep. I often have lucid dreams and have had for years, but i have never left my body (nor do i want to)
I think this video went beyond 'learning how to have lucid dreams' and i think that the person who created the video is probably involved in the occult.
Like the above poster, I'd also like to know whether or not the video gave you instructions and whether you followed these instructions as just watching the video doesn't seem to me to have been able to cause what happened to you...
Obviously you unintentionally opened a doorway and unlike the poster Nyoka, i DONT believe this dream was from God at all. Definitely demons have found a doorway and are playing with your mind. Repent from this, rebuke these demons and just be more careful in the future what you watch - God bless.