nightmares...help

DD is having nightmares, but not really waking up. She's crying out in her sleep and talking but when I go in there she is asleep. They don't seem to be as bad as night terrors but I don't really know how to help her. I wanted to go to bed over a hour ago but I can't go to sleep if she's hurting. She's kinda making noises (she was saying i can't and ow-ee) every ten minutes or so. Is there anything I can do for her? Should I wake her up so she can kinda reset her sleep or something? Move her to my bed? DH is out of town so she wouldn't wake anybody up....I'm completly freaked out by this bc I don't know what could cause them and i don't know how to help her 

We cosleep with our oldest so when he wakes up like that I just rub his back and tell him that he is ok. He gets really upset if I try to move him or wake him up.

Oh my sister used to do that. She would actually start wimpering and say sorry over and over. I would run her back and tell her its okay. Sometimes I would prop her up and hold her and just lay her head on my chest. Someone told you that you're actually not supposed to wake them up. Just comfort her but don't wake her up. Hold her hand, run her back, or softly talk to her.
DH says I do this too. He too just rubs my back or holds me, the first few times it happened he tried to wake me up and I started seizing.