I've never intentionally had a lucid dream before, and all of the times I remember discovering I was dreaming resulted in me waking up. I get sleep paralysis every now and then and wanted to try out lucid dreaming, but I have virtually no control over the times I get sleep paralysis, and it doesn't happen very often. Are there ways to gain control over that kind of thing? Is it possible to skip right over hypnagogia to a lucid dream?