We co-slept with DS for the first few months and it was the best thing! Helped enormously with breastfeeding.
I did it with him snuggled in my arms as you describe. I can't remember the pins and needles though. I was not comfortable letting him sleep freely at that young age too! I don't think I ever had a really really deep sleep though but I could breastfeed and not have to fully wake up - he'd just latch on when he needed.
Good luck.


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