So lucky that I'm usually facing the wall when I experience sleep paralysis. Pretty sure I'd see all kinds of stupid **** if I were facing the room.
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A common method I'd use to wake up from a lucid dream was by stabbing myself, but after a few weeks straight of lucid dreaming I woke up one morning and couldn't tell the difference from a dream and reality, I didn't end up stabbing myself but I was pretty close.
The reason I started this method was because I was having a nightmare in which I was not aware it was fake at the time and I ended up realizing it was a dream because the figure chasing me was weird and I just picked up a knife and lunged it at my self, pretty useful method.
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I think there are a lot of good articles on how to handle lucid dreaming. One suggested that you simply stare at a clock, if it makes sense then you're awake. If you're asleep the clock will be inconsistent or something to that extent.