How do I teach my 6 month old son that his bed is his bed and that is where he needs to sleep, and…

How do I teach my 6 month old son that his bed is his bed and that is where he needs to sleep, and mommies bed is mommies bed, and that is where mommy sleeps. I started the bad habit of him sleeping in bed with me, but I don't wanna keep that up. I want him sleeping in his own crib so mommy an daddy can have our alone time in our own bed..