I used to have to do this with my DS. I would have to lie on his bed with him till he fell asleep then sneak off.....I didn't have the trouble of him realising and waking up though.
I remember then one night, I really needed to get up and go to the loo.....so I told him, I was going to the toilet and I'd be back....he stayed quiet....waiting.....then I went back in there and he was asleep. After that for a few days I told him that I was off to the toilet and left him to go to sleep......now we say our ritual words....."Night, Night....sweet dreams....see you in the mooooorrrrrning....I loooovvveee Youuuuuu" and I walk away, he puts himself to sleep and I don't see him till the morning (unless there is something wrong)
If my DS does get up, I always make sure I put him back to bed, cover him up tell him it's time for sleep and he's OK.
It took until 23 months for him to do that though. I think consistency is the key and just keep trying till he gets it. I know it must be hard too with such a big belly. Your DS probably knows something is up and is trying to get as much attention from you as he can before baby comes along.
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