I suggest doing a google search for "Visiting the Lower Astral Planes" or "Lower Astral Planes".
In my opinion, a low vibration astral entity has spotted you while you were on the lower astral planes and has been able to travel back with you. If the entity is able to manifest physically (physically feeling it get on the bed) it has probably been with you for a bit of time.
The planes can be a very dangerous place.......
Until you are able to learn about what the planes are and how/why you have access to them I would suggest that you tether your astral body to your physical body to prevent traveling on the lower astral planes. I can guide you in how to do this but you need to learn about the planes first.
Also, although your description of what happened doesnt quite fit, it could be sleep paralysis. With that said, there is a difference between sleep paralysis and traveling the lower astral planes...... a BIG DIFFERENCE!
I hope it is just sleep paralysis........
Light&Love