Both Lucky and Lexie sleep with hubby and I; have from almost day one.
But for the life of me I can't remember how when they were younger, we got them to stay still so they didn't jump or fall off the bed. All I know is that we were suckers for a crying puppy and that's how they ended up sleeping with us. We have little Toby now too & at 2.2 lbs, there is no way I could get any sleep with him in with us for fear of him falling or being squished or suffocated. But lo and behold, there is no need cuz he goes into his crate and not a peep out of him til morning when he hears us waking. WOW
When we have had Toby (or one of Lexie's puppies) up in bed with us for just a while, they were so full of energy and on the move, hubby and I wondered, "How did we ever start it with Lucky & Lexie when they were small?" Like I said, we can't remember, but we did. Sometimes I think I'd like to get Lucky and Lexie in a bed of their own
.....don't know if that'll ever happen though.