For Hypnagogic Imagery Induced Lucid Dreams, exercise your thinking patterns by repeatedly changing your attention. After you do this long enough, images and sounds should start to show up on their own (this is hypnagogic imagery), and they can get very weird and illogical.
You might then enter a dream at this point and quickly become lucid, or start out lucid. Otherwise, you'll eventually realize you have entered sleep paralysis.
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Because hypnagogic sleep paralysis includes full consciousness, your dreaming can be frighteningly real. There's often a feeling of getting flipped upside down, spun, or being tugged upon by an outside force.
Hypnagogic hallucinations can also give you strange auditory hallucinations, dark beings and flying. It's possible to observe waking reality while you are in a hypnagogic state, but it's limited to the sensations from your physical body. Most hypnagogic sleep paralysis states occur while sleeping face up.
There's evidence that the tendency toward getting Hypnagogic sleep paralysis might be hereditary.