Sleep paralysis naturally happens to all humans while dreaming as a body defense mechanism preventing you from acting out your dreams. Some people just happen to consciously wake up before their bodies do so they are aware of sleep paralysis when they try to move. Your brain still thinks you are asleep but your conscious is awake, so it can be a terrifying experience to wake up and not be able to move. Though once you find out how harmless sleep paralysis is, you can then learn how to use sleep paralysis to your advantage, to generate a lucid dreams.
If you are scared and fearful when you wake up to sleep paralysis, you will probably start to experience a nightmarish like environment. Just remember that it's all in your head. Just learn to become calm and relaxed, and these bad experiences will stop occurring.
When you wake up to sleep paralysis, don't try to wake yourself up from sleep paralysis, instead, just relax and turn them into lucid dreams.
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If you regularly experience being aware during sleep paralysis, you have a nice advantage over other lucid dreamers that do not experience sleep paralysis. This is because you're already aware while your body is still asleep! Just keep your body asleep while you go into a dream, and bam, you got a lucid dream. Enjoy!
Being aware in a dream is what lucid dreaming is, and being naturally aware during sleep paralysis is not a bad thing, as it gives you an easy step into lucid dreaming. The main challenge is just overcoming the fear of sleep paralysis.
Once you realize you're awake and aware of sleep paralysis, simply relax and just start to imagine yourself leaving your body and going into a dream world that you imagine imagine. Just feel like your conscious is leaving your body and flying away. Usually it's totally dark but then you start to picture atmospheres or think "MAXIMUM CLARITY NOW," then BAM you're in a vivid lucid dream. For example, when I yelled out "MAXIMUM CLARITY NOW," I quickly got a five second sun rise starting a massively vivid lucid dream!