<p>A lucid dream is simply a dream in which you know you are dreaming (and are consciously aware of the fact). It doesn’t necessarily mean you can control the dream, although you almost always can.</p>
<p>What I’ve read about sleep paralysis is that it is scary, but if you know what it is and that it’s perfectly harmless, and can control your fear while experiencing it, it can be a door to the most vivid lucid dreams, almost whenever you want them.
And the most common times to experience it are when you’re either just going to bed or just waking up, so that’s not uncommon either.</p>
<p>EDIT: I’m going to bed (It’s almost 2 AM) now, so I won’t be able to answer any more questions until tomorrow. Good night (and sweet dreams, of course!).</p>