I don't think you have to fret, lucid dreaming isn't scary. It actually feels good and not scary, like "wow, I can do this now". Even if you accidentally did it, it wouldn't be bad.
and as Lillias said, there's no correlation between sleep paralysis and lucid dreaming. =) I've had both, they are nothing alike.
Anyone else try to read or write in your dreams? I always get frustrated trying to read in my dreams lol like MAKE SENSE!!! even though it's almost always gibberish.