You are very good not just to go with it. That's what we would do as I value my sleep too much!!!

However the times that we've tried to encourage sleeping in his own bed, we've found that taking him straight back in before he got settled in our bed was the way to go. Otherwise I've found that if he falls asleep with us then wakes up in his own bed, he gets a fright and it's a bit confusing.

Also some type of night light or music thing works well.