When we have unusual experiences the mind fills in the gaps.
That would explain feeling hands on my ankles, wrist and back. I feel that I'm floating so my logial mind tells me something must be holding me up. Then the fear of that fact may have created the feeling of hands. Which in turn had to be attached to some kind of body.
I've have read that in extreme cases the mind can even cause bruises. Although I'm not saying thats what happened. The bruises did look like finger marks but that doesn't prove I was visited in the night by some dark being.
These are the only dreams I have ever had like this. Most of my dreams are forgetable. A few are about people I don't know. Thats it.