Co-sleeping

I am not a fan of co-sleeping at all. Justin and I both agreed when I was pregnant with Kate that she would sleep in her own bed. I will say there were times when she was a baby and I was so tired that I would let her sleep in the nook of my arm, but that didn't last long. Plus, Justin could never sleep well because he was so worried about rolling over on her. Well, last night we went out for dinner and drinks and when we got home we took Kate to the bathroom and then went bed. At about 5 am, I heard Kate whining and I knew she had wet the bed. Brody didn't wake up at all during the night, which meant I didn't wake up, which meant Kate didn't go to the bathroom during the night. So, I changed her clothes and let her get in bed with us. That girl cant stay still, she was moving all around. She was up against my back poking me or touching me or starring at me. I had to tell her several times to be still and go to sleep but she never did. At 6, she said she wanted to go back to her bed, so Justin took her back-the top sheet was laid down, so her bed wasn't wet.
For those of you who do co-sleep, I am not judging you, I just don't know how you do it. I like my space when I sleep plus I don't want to have to worry about being loud when I am getting ready for bed.