I rarely do RCs when I am lucid. Most the time, by the time I know I am lucid, I will no longer need the RC. I only tend to do them when the dream is especially convincing, or needs some stabalizing.
Keep practicing your WILD attempts. Sleep Paralysis is a weird state to be in, and takes some getting used to. It gets easier once you're used to it.
That last stage of your WILD can be the hardest. The part where you need to make the final transition to the dream. There are tons of little tricks you can do. Read this guide for some good advice. Especially the part about relaxing and taking a deep breath:
http://www.dreamviews.com/community/...415#post746415
Just keep practicing, and try a new trick every time you get stuck. Eventually something will work.