I have a moses basket next to my bed, DS has his evening sleep in it. He wakes at some point between 11pm-3am (usually closer to 11!) and I grab him, lie us both down and latch him on. We then go back to sleep with him in a sleeping bag and me wearing the duvet like a cape. DH has slept with DS in the bed as I have my arms around DS so he can't roll off the bed or be squished, but he prefers a camp bed in the (unused!) nursery for now. We have a standard double bed and there is room for three, but as I said, DH doesn't really like it. We only do it when staying at my parents because he has nowhere else to sleep; if we explained the situation to my mother she'd go on and on about this killing DS. Planned, sensible co-sleeping does not kill a baby! If you drink any alcohol, smoke or take sleeping pills or other drowsy-making medication (you or your beloved) then you shouldn't co-sleep.

Hope this answers your questions. You can feed then put the baby back in the crib, but I get a far more restful night with DS in my arms and he doesn't wake up with the transfer back to his bed. I used to be a deep,wriggly sleeper but not now I'm co-sleeping; Mummy hormones when we're near our babies protect us and them. Plus when I wake from a nightmare it's such a relief to hear and feel DS against me, co-sleeping rocks!