We go through this every few months, and it is hard not to fall back into full time co-sleeping, especially in the colder months. Now DS is here, bedsharing with DD doesn't really work for us and so we have had to work on it more.

We found that rather than letting dd fall asleep in our bed and then move her, it was more successful to take her back to bed and resettle her there. Especially when we did it quickly, the resettling took less time than if she woke up more and got upset. after 2 or 3 nights of doing this every time, she seemed to settle back into her bed or at least accept that we were going back there if she woke.

I think having special things in her bed has also helped, her teddy and Har-per, torch etc

At bedtime, we talk about what she can do if she wakes up too. i don't always know what she takes in but figure if i repeat it enough one day she will understand.

good luck!