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I would lay on my side with her next to me. The arm that I was laying on would either be under her head or above her head. I would let her nurse and then try to fall asleep. If she would unlatch, I would let her roll onto her back and keep my arm above her head to make sure the pillow didn't come down. I would either put her on top of the blankets (so I was sure they wouldn't come up over her) or I would push the blankets way down low.

We use this co-sleeper and love it:

http://www.amazon.com/The-First-Years-Secure-Sleeper/dp/B00012CHFI/ref=sr_1_3?ie=UTF8&qid=1348665851&sr=8-3&keywords=co-sleeper

It’s very sturdy and I’m not nervous at all to sleep with LO in the bed as long as she is in it. We have her positioned between us, at a little higher than my head height so that if I pull my comforter up over my shoulders in the night, it won't accidentally ever cover her too much.

note: it’s a little on the short side, but if you cut off the bottom bumper/wedge, it works just fine for longer babies. I’m sure its not advised to do this lol, but it is a “real world” solution. LO is 4 months and still can use it since we removed the bottom bumper/wedge; but she also doesn't ever try to scrunch down in her sleep, so there is that. She does wave her arms around a lot though, and grunts and snores and talks all.night.long like your LO!

Also plan on using a co-sleeper. Arm's Reach wood version.

@yoursilverlining: The roundhouse kick is a favorite of our LO's.

Her bed is the pack n play next to the bed, but most nights I end up pulling her into bed with me. She is still swaddled, so she doesn't move around much thankfully. She lays on her back at boob level, and turns her head towards me to nurse. I put my arm up above her head. She sleeps on the outside of the bed because she still isn't moving and because she can't lay between us. DH can roll over and be on top of me and won't even wake up, so there is no way that I will put her near him when sleeping. At this point, I sleep in the middle of the bed on my side with VERY little room and DH and LO take up most of the bed.