This is what worked for us, this may not work for you (or anyone else).

We have done this with our first two and sort of (very half-heartedly and inconsistently) do it now with #3. We will do it more with #3 when we feel it’s time, probably around 2-3 yo. All our kids fall asleep wherever they want, usually on the lounge or in our bed. When we go to bed (or if their sleeping body is in the way) we carry them to their own beds. When they wake up they come into bed with us, we wait until they are properly asleep and then carry them back to their own beds again. If they wake-up at any time during the night they come back into our bed, fall asleep, and get carried back to their own bed. There are lots of disadvantages to this method but it has worked really well for us. DS1 and DD now almost always sleep all night in their own beds. If they wake they come in for a quick cuddle and then we take them back to their own beds (awake now, they don’t have to be asleep anymore) and there is absolutely no conflict. It has been a very long process though. Actually tonight (another little celebration) they both went to sleep in their own beds (that never happens).

All the best, it may be a long-haul!