I can "achieve" sleep paralysis at will. I could do this long before I found out about lucid dreaming and the role SP plays in it.

My question is, how do I get from sleep paralysis to a lucid dream? When in SP I am aware that I am in SP, and I am aware that the hallucinations I percieve are hallucinations, but the only things I can do from there are snapping awake or relax and fall truly, unconsciously asleep.