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Rapid eye movement sleep (REM sleep, REMS) is a unique phase of sleep in mammals and birds, distinguishable by random/rapid movement of the eyes, accompanied with low muscle tone throughout the body, and the propensity of the sleeper to dream vividly.
REM sleep is an active mind inside a paralyzed body, while nREM sleep is a resting mind inside a functioning body. This is why sleepwalking is possible during nREM sleep and not during REM sleep: your body is paralyzed during REM sleep but not in nREM. As for why sleepwalking occurs... well, we still don't really know. See Wikipedia: Sleepwalking for much of the current knowledge.