You don't have a lucid dream from a sleep paralysis experience - although upon awakening from one, you may find yourself in paralysis. The chances of having a false awakening is more common than paralysis occuring. Most lucid dreams happen when you are aware you are dreaming, and sleep paralysis isn't involved.
If you have sleep paralysis, you can experience an out-of-body-experience which is similar to a lucid dream. People get confused with the two. They are the same, but how you get there is a whole different story. I have had many lucid dreams and out-of-body-experiences. I actually had one the other night where I was flying over green acres and farmland beside my dog.
AND, every time I have experienced sleep paralysis, it hasn't been a terrible experience. Don't worry about it. It can't hurt you, because you are in control of it the entire time. If you go into the astral feeling worried and scared, then chances are you're going to have a negative experience. Go into the astral without fear, and with certainty.
Edited by Coat., 22 December 2012 - 10:57 PM.