I have been co sleeping with my son since the first day he came home from the hospital for many reasons no I didn't…

I have been co sleeping with my son since the first day he came home from the hospital for many reasons no I didn't breastfeed him I just felt save with him next to me since he wouldn't sleep in his own bed alone he felt safe and secure when he was on me or by me held tight he's going on 6 months on the 8th and I am ready to have my own bed back but he will NOT sleep in his own bed he wants to be on me or by me like I said this has been going on since birth I feel so horrible with him in bed with me I don't sleep good either when he is in bed with me I wake up freaking out because he now rolls over and moves all over the bed there has to be an ending point right now any moms that had to deal with the same problems can anyone of you help me out????