We kept both of our kids in a bassinet close to the bed. When it was time to feed, my wife would just bring the baby into the bed to feed while she would drift in and out of sleep. Once done, the baby was back in the bassinet.
We didn't have any issues with getting them into their own beds once they were weaned.
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"My hands are on fire. Hands are on fire. Ain't got no more time for all you charlatans and liars."
- Old Man Luedecke
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