I actually had a half dreamstate like that not too long ago (last month maybe) and I woke up, in my bed, but I thought I was at one of my friend's house... and I was confused as fuck as I stumbled around in the dark trying to navigate what I thought was his living room eventually to find my way back my bed before realizing the setup was actually my room. Its a funny story hind sight, but like I said... I was seriously confused for about 2 minutes. I was aware enough to know what I was doing, but unconscious enough to believe I was literally somewhere else.
the voice is what seems the scariest. We haven't gotten really in depth in my class yet, but in a psych 101 class I remember they said that the voices people hear often tell them to hurt themselves or others.