My 19 month old is like this - she is cutting the bottom eye teeth. She's in a double bed though so I sit on the bed and wait until she falls asleep. If the baby is unsettled then I rock her in my arms while rocking the baby in her rocker with my foot. Then I transfer her to the bed when asleep.

She also wakes up in the middle of the night. Then she is in our bed, which doesn't worry me at all - it's the 4.5 year old sleeping with us that's a problem lol we have the baby in her bed next to ours, so don't stress too much about what happens when the next one comes along