Best advice on getting my daughter to go to sleep on her own or at least just stay in her bed at…

Best advice on getting my daughter to go to sleep on her own or at least just stay in her bed at night? I don’t mind helping her go to sleep but her waking up in the middle of the night is getting exhausting. Especially when she stays up for a while. I don’t think she’s having bad dreams or anything cause she’s never crying or seems scared.. she co-slept in our bed until a few months ago so I maybe it’s just cause she’s still used to being on our bed? Idk. But it’s draining me and her. 😩