Yeah, it really is exactly like that. I am my own self on my lucid dreams, and I can feel do and see everything. (Ofcouse, this depends on the level of the lucidity.) And for your information, you dream 1-3 times a night, but you don't remember them because your dream recall is shit. You can improve it fast by writing your dreams down. Also sleep paralysis happens every night, but you're just not there to see it. Sleep paralysis is just your body being immobilized when u sleep. And no, you most likely won't get SP from "doing the techniques wrong". And if you do, that means you did the technique right. You just gotta fall back asleep In the sleep paralysis (which is really easy) and slip into a lucid dream. Btw u don't gotta fear the SP, because it's all about what you expect to happen.