I know a lot of people who have let the baby sleep with them, and to be honest, the kids are still sleeping with them. I even did this myself with my daughter for a few weeks while she was teething but finally got to the point where it was becoming such a habit she wouldn't sleep in her crib at all - she wanted me. She would cry and cry until I picked her up and put her in my bed and then she would laugh, roll over and go right to sleep. That's when I knew!

It took one weekend to get her back into the habit of her crib.
It's definitely difficult when you want to have them sleep next to you, but I just didn't want to be like a friend of mine who has a 9 year old, 5 year old and 3 year old all come into her bed at night still. Those who do it tell me not to do it because it's the hardest habit to break, so that's why she's back in her crib. ...plus, sometimes you need time to yourself.
Good luck in whatever you decide.