I know your not suppose to be sleeping with your little ones, but my son has slept in my bed with me since he started cutting teeth around easter of last year. he never slept with us when he was newborn he always slept in his crib or bassinet at the time. at my old house I had him in his crib going to bed on his own by 9pm, then we move back in with his dad's family, and that's when he started to cut teeth and ever since then he has slept with us. now I can't get him back in his own bed, kinda hard when u live with so many people in the house (he shares a room with us, his crib is literally two steps away from our bed.) and both his dad and I are at work til late at night.
Have you tried moving him back to his bed once he's completely asleep? That might work.
Everyone makes mistakes though. Trust me I'm no saint but, another reason I never slept in th bed with my child that made a huge impact on me was my best friend... her baby was 3 1/2 months old & her and her fiance slept in the bed with him. well she rolled over on him. He died.She eats herself up everyday & our town made an awarness day about the issue. I was so scared to do that.
My friend actually took a recording of herself & made a dvd of it on her computer. She plays it when her daughter goes to sleep & it works!!!!!