So I need some help falling asleep consciously.

What I do as I am going to bed is to do a breathing meditation (counting on exhales and restarting at 1 when I reach 10)
Eventually I start to feel certain nerves or joints twitch and then I get a wave of, the best way to describe it is energy, like a jolt of electricity (not energy as in I want to go run a mile) which I assume is the start of sleep paralysis, my heart rate increases, I can still move but certain body parts feel like they could just float away like my arms. Shortly after this point I always fall asleep. One time I started having hallucinations and could see my legs (if my eyes were open I would be able to see them in the same spot) but again I fell asleep even though I was still keeping up with my meditation.

Am I doing it wrong? Am I heading in the right direction? Because when I first started doing this I wouldn't feel any of that stuff so I'm assuming I'm at least improving. Is it normal to have that electricity feeling (again thats just the best way I can describe it, it doesn't hurt and has like a neutral feeling to it, I dont get hot/cold or anything) it ussualy does startle me sometimes though because I can tell that its the next thing thats going to happen but not exactly when sometimes it happens 1-4 times before I eventually just fall asleep.

I also keep a dream journal and do reality checks. I've had a couple lucid dreams before but none where I went from being awake right into the dream consciously.