How to fully Lucid Dream/Astral Project?

I have been trying for years to lucid dream. I am well aware of the techniques and I have seemed to have the most success with WILD. I have had accidental lucid dreams, but it seems that every time I get to the point where I feel the dream should begin, (ie:sleep paralysis, vibrations, hypnagogic imagery) I just cant "take off". I would like to be able to astral project, but I feel that lucid dreaming is a good stepping stone. What am I doing wrong? Please only answer if you have experience.

Update:

To Buddhist Prime: Thank you, but I am aware of that technique. I am asking how to get past the point of just lying there with my body asleep but my mind awake. I can get to there and lie there for hours but nothing happens.

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