Yasin slept in our bed on and off and Imran slept in our bed for all his night sleeps from day one.
After having an unexpected c-section I didn't want to have to try and get him out of the hammock in the middle of the night so I just got DH to put him in bed when I was going to sleep and he stayed.
Now he sleeps half the night in his bed and when I go to bed I bring him with me. My DH was nervous about it too when our first baby arrived (mainly thanks to MIL's scare mongering) but now he loves it and doesn't want to give it up.
I have to say that I love it too - there's something really wonderful about snuggling up to your children and drifting off to sleep.

As far as the safety - you need to find the guidelines for safe co-sleeping and follow them and you should be safer than having them sleep seperately.

I think that Imran would have died if he had been in a seperate room. I woke up one night because he had stopped breathing.