hey Alkoman, welcome to DV 
Yeah you can achieve lucidity through sleep paralysis.....as soon as you're aware that you are dreaming and can't move, that means you're already lucid. At that point, you need to find a way to break out of the paralysis without waking up so you can continue the lucid dream with mobility. 
It's different for everybody, but for me, I just concentrate on moving just one arm. Once I break it free, the rest of me is mobile, but it doesn't always work.
Do you go into sleep paralysis alot?
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