I co-slept with DD2 from birth until about 6 weeks as she wouldn't settle at night any other way. She slowly graduated to her cradle (wooden with spaced bars so she could see us) and then to the room she shares with DD1 at 10m. She would also co-sleep when unsettled travelling or unwell.

I loved it and think it was really beneficial to all of us. I always slept with DD2 to the outside of the bed tucked into the crook of my arm so that I was in the middle. That way I didn't worry about DP pulling up the doona or rolling onto her. I did get a sore arm at times but I got used to it.