My bed too is very high up off the floor. We have stairs, that are still too short to reach the top of the bed. Bella has to jump pretty high to get up. Shes a stinker and always jumps down, won't wait for me or use the stairs. Jett is too small, but sleeps with us all the time. I do worry about them falling off, Bella did once as a baby, but only once. She was thankfully fine, shortly there after she learned how to jump off the bed. ( I think I am going to TRY to teach Jett to wait for me to put him down, he does NOT like the edge of the bed and stays close to the center. Thankfully!!!
