And not the c/d/x? "0p does work well, but mapping to ctrl-p works too:
"-- paste last yanked (0 reg)
nmap"0p
imap"0p i
vmap"0p
nmap"0P
imap"0P i
vmap"0P
Want to paste into command?
ctrl-r
or
ctrl-f to edit the command line
:help c_ctrl-r
:help 'cedit'