What you are describing is almost classic signs of a partial OBE. The floaty limbs (arms and legs first) is usually what I experience first. Lily is correct though, you weren't totally relaxed -- which is another classic sign. Legs and arms, at least for me, are always the first to release from the body. Its pretty easy to get them floating or moving around while you are still aware that physically they are on your lap, or by your side, or wherever you know they are. The problem is the torso and head. You need to be completely relaxed for those two to release. This is the hardest part I think. Because people typically think they are very relaxed at this stage, when in fact they are not. We hold a lot of stress and tension in our jaws, neck, shoulders, etc. This tension keeps the etheric locked in to the physical body. The next time you experience this, instead of fighting to get out -- which you won't because you are still locked in to your body -- try focusing on your jaw or neck or shoulders. With each exhale, imagine them deeply relaxing. You should get almost a sinking feeling when you start doing this correctly. If you are able to retain awareness during this part, you should be able to consciously exit once your upper body/torso is fully relaxed.