I've lucid dreamed maybe twice in my life. Once was incidental. Once was intentional, although it did not last for long and I did not pre-program the settings or anything like that.
This thread interested me because now-a-days (I'm 22) I experience sleep-paralysis a lot. I can't remember the first time I experienced it but I think was around 11 years old, and it has happened while I was sleeping in the car on a family trip out to the west from my home state, Michigan.
I just took a nap and had sleep paralysis happen to me a few times! (causing my nap to be very fragmented with all the waking up I had to do from a state of paralysis) It seems like it is more likely to happen in the morning when I wake up at 6:30 then go back to sleep, or when I take a nap during the day.
I've never astral projected before. That must be a special experience. I wonder is it possible to meet my spirit guides or higher self if I try to astrally project? I would think that this would be a great way of contacting them if so!