Hey hydec! It's absolutely possible. There are different methods people use to become lucid, and usually you'll only deal with the potential of sleep paralysis (SP) when trying to WILD (Wake Induced LD).
One piece of advice that I'd give you is this: remember that everyone dreams differently. Just because a few people have bad experiences with SP, that doesn't mean you will. The vast majority of people never even find themselves in SP, myself included. It's something that naturally happens to each person to keep us from acting out our dreams while we sleep, so it really is a good thing. I've heard plenty of people go through SP who just relax and have absolutely no problems. Don't focus on the bad things that might happen (and most likely won't), anticipate and be ready for the awesome experience of becoming lucid! 
You'll be fine. Again, you probably won't experience it unless you're really trying to. I wouldn't worry and just take things as they come. Most of all, just have fun!
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