Yes, when you go back to bed, try not to fall asleep. You have to be tired enough for your body to let you go to sleep, but awake enough not fall asleep.. Confusing.

How long it takes really depends on the person.. Some people could take a few minutes, others may take up to an hour. You have to experiment to see what works for you, and how long it takes for you, etc..
And you just have to remind yourself not to get scared sh*tless if you feel/hear something strange. Just remember, none of it is real, and if you go through with it, it will stop soon enough. Try to concentrate on your breathing.
Now, I
have been through sleep paralysis, but I am yet to enter a dream. But a lot of people say that their dream just appears in front of them, or that they imagine where they want to be and they are there, or that they sort of 'jump' into a dream.
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