I'm assuming that by lucid dreaming via sleep paralysis you mean WILD. I'd just like to make a quick note that sleep paralysis isn't too-too common and not required for WILD. I wouldn't recommend focusing on trying to get into SP as this can throw many people off. See here: Sleep Paralysis Demystified - Lucid Dreaming - Dream Views
To answer your question, you can enter SP and/or otherwise WILD in any position. Guides will usually tell you to lie on your back, but the truth is you really just want to do it in whatever position you already find most comfortable when sleeping. The focus is to fall asleep while still remaining conscious, and if you're not comfortable, you won't fall asleep!
As for your breathing, it's possible it's only psychological, but no guarantees. My recommendation is, if you see it as a concern or a problem then to see a doctor about it, but if you don't think it's any big deal then try to ignore it. Try thinking about something else when falling asleep; focusing too much on your breathing can keep you from successfully completing the task.
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