When you are asleep, your body gets paralyzed after you fall asleep to prevent you from sleep walking and acting out your dreams because that could be dangerous, this happens after you asleep, it's perfectly normal and you will not notice it.
Some people have a sleep disorder where they will get paralyzed before they fall asleep or stay paralyzed after they wake up. That is rare. And if you had this sleep disorder you would know it by now.
For those of us who do not have this sleep disorder this still might happen but likely just a few times in our life, and it might happen whether we try to lucid dream or not.
Lucid dreaming does not cause sleep paralysis while you are awake, your physical body will only get paralyzed after you are asleep, and then if you are asleep and dreaming you will be able to move your dream body instead.
What might happen if you use the technique Wake Initiated Lucid Dreaming is that you may experience something called hypnagogic hallucinations in the state between awake and asleep. If you do not like them, you can move and wake yourself up, because you won't be paralyzed. The hallucinations could be images, sounds, vibrations, stuff you feel. Unless you expect to be scared of them, they likely will not be scary, and are more likely to be interesting. I enjoy mine very much and look forward to experiencing them.
If you do not wish to experience these though, you can always pursue lucid dream techniques such as DILD or MILD instead which do not involve staying aware while falling asleep, but rather realizing that you are dreaming during an ongoing dream.
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