Not sure if this will be any help but this is our story. DS was very diff to settle from an early age and we started cosleeping just to get some rest. We always started him off in the cot and then brought him into bed after his first or second waking and I would always feed him to sleep. DS always slept between me and the edge of the bed (with a rail) as DH didn't feel comfortable sleeping with Ds in the bed. When he got older we tried lots of things, sitting by the cot etc. I found the best book was The No Cry Sleep Solution by Elizabeth Pantly. Lots of solutions for different families cosleepers and non co sleepers Bf and non BF.

We ended up putting DS in a single bed around 1 yr old and working with the strategies in the book (I can't even remeber what they were now but they worked). We found putting him in the single bed worked well as it felt more like our bed, we didn't startle him by putting him in the cot asleep etc and he didn't hit the sides during the night. Our routine was We would give him a feed, read a book and then and I would lie beside him until he fell asleep. I would still bring him into our bed if he woke during the night. Now he sleeps through in his own bed and even chooses to put himself to sleep at night.