We used to have a Sunday morning lie-in with our parents (ah, the memories ...)
And isn't it wonderful to wake up and find they've created havoc while you've been sound asleep?
My bubs has slept in his own cot since he was born, but he sometimes goes through patches where he wakes up crying in the night, and we're just too groggy to do anything other than bring him into bed with us. Problem is that bubs is a very restless sleeper, and apart from tossing frequently, insists on either crawling right onto our headboard, where we worry about him hitting his head, or sleeping with his head down by our legs (and if we move him, he goes right back), so he's in danger of being kicked or of falling off the bed. He's inherited his restlessness from hubby, so I also worry about hubby rolling over and squashing him. So, although I do love hugging him while we sleep, the nights he's in with us aren't the most restful. If your baby's like mine, I'd leave him in his own cot / bed.
Currently, I'm trying to get bubs to learn to fall asleep in his cot, instead of going to sleep on our bed and being transferred. He does fall asleep - eventually, and after a bit of whingeing, especially if I leave the room.