We have a mesh bedrail on my side and DD sleeps between me and the bedrail. We also have a cushion that lights up specifically made for co-sleeping that goes between her and my DH as he is scared of rolling on her. I sleep on my side facing her with my upper arm slightly over her if she is unsettled. She also sleeps on my chest occassionally. I love co-sleeping but I do wake up stiff and sore occassionally from sleeping in the one possy all night