Well, when my daughter was a newborn I did let her sleep with me & she slept great - all the time, woke up to eat & go to the bathroom, that's really all. The only thing she cried about was getting dressed - she hated it! Anyway, she never slept in the crib, but when she was about 6 months old I thought it was time to at least give it a try b/c I knew she was only going to get bigger & take up more room in the bed, plus I knew if she was used to always sleeping with us then she would never sleep alone. It worked out fine for us, she got used to sleeping in the crib - she would wake up crying once in a while & I would go in her room, pat her back & whisper to her that I was there & she was fine then she would fall back asleep. Eventually she did start sleeping all thru the night, which was awesome! That started around a year old, she's just turned 2 Oct 5th & she still sleeps in her crib all thru the night. I am thinking about setting her toddler bed up soon & giving it a try.
Good luck with your little one!!