I have been having a lot of success lucid dreaming lately. I've gone from once a week to every other day.
Anyways...
The other day I was at school taking stupid standardized tests (worst thing to ever happen to school), and I finished really early. I had about 4 hours till they let us out do I decided to fall asleep. I got into SP and had some weird hallucinations, like everyone was walking up to me poking me. Next thing you know, I look up and I'm in Petsmart! Anyways, stuff happened and I woke up later. I still had 2 hours and the exact same thing happened (except different scene). It was plain awesome!

Also- extra question. What do you feel when going into Sleep Paralysis? I feel like someone shot a wave of vibrations at me, then I usually feel like I'm swirling super fast into nothingness. Then when I feel things crawling over me, I know it's time to transition!