I need to find some of my posts from that old dream talk forum I used to visit over 10 years ago. When I was about 14-16 years old I was a frequent and intense lucid dreamer. It gave me experiences that I'll keep with me forever... Things I couldn't fathom before. I have felt many emotions in dreams that I never feel while awake, unless I'm in the afterglow of such a dream.
The key to my lucid dreaming was simply to absorb my mind in it, and especially to read other peoples' experiences with dreaming. If I went to bed with those kinds of thoughts, usually something good would happen.
Felt sleep paralysis many times as a teenager. I actually grew to enjoy it because of the feeling of slowly regaining control. First, breathe harder to wake my body up a bit more... then move a finger, then two, and so on. It's like I am waking my own body up from within my mind and within my true thoughts.
When you get a crossover effect of sleep paralysis/lucid dreaming, it can make for some really interesting results. There have been times when I opened my eyes to the waking world. caught a glimpse of something in my room, let sleep regain control, and made whatever I looked at part of my dream.
I'm of the opinion that more people need to harness the power of lucid dreaming in order to carry out their deepest and most pure fantasies, especially if you're younger. Young people have a stronger affinity for lucid dreaming (In most cases).