We learned (the hard way) with our first how important it is for kids to stay in their beds and not be in ours.
We would often start putting her to sleep in our bed and then transfer her to the crib/bed because it was easier than listening to her cry. Finally, we figured out that it won't kill them to cry for a bit and learn boundaries, etc...
The next two kids were a breeze when it came to bed/crib stuff.