Natural Sleep Paralysis. How to get into lucid dreaming?

Hey, I am that type of person to get natural Sleep paralysis when I try to to to bed at night. Last few days I have been experiencing touches on my body. For ex. It feels like somebody is trying to take my pants off. And last night, it felt like someone was rubbing my hands. It was really scary. Imma get straight to the point... How do I transition to lucid dreaming? And what to do about the extremely fast heartrate? Should I just ignore the beats? Or is it just not possible to enter lucidity when I get fast heartrate? And please don't say I'm not experiencing sleep paralysis. I get it dead naturally, and I never sleep on my back. And yes... This is sleep paralysis because I cant move and I see hallucinations, and sounds.