I love the idea of cosleeping, but we have tried it a few times, and D just likes his space. In a full size bed none of us were getting any sleep. So, I put him to sleep at the breast in our rocking chair, and then put him in his crib. He wakes now only at 4 or 5am (a huge improvement to every 2 hours for most of the first year, more on that later) and we sometimes bring him into bed with us then. It is so very cozy. I am now leaning to losing the crib completely and putting the mattress on the floor.
My favorite floor bed image on the web:
http://sewliberated.typepad.com/sew_liberated/2009/10/its-the-little-things.html