I feel for you. I have many friends who have this problem. Unfortunately, its a learned habit that is hard to break, mostly because it's heartbreaking and you are sleep deprived and will do anything in the middle of the night just to get back to sleep. My advice is stay strong and stick to a strict routine. The stricter you are the faster the habit will break. It will be hard. Two year olds can be very stubborn and you are going to want to do anything just to go back to sleep. Plan a routine you and your husband can stick to. Example:
7:30 pm--get ready for bed,brush teeth, book, PJs, etc.
8:00 pm--lights out and leave the room ( put him back in bed every time he gets up, lay down with him if you have to, but leave before he falls asleep so that he learns to fall asleep by himself. Tell him you will check on him in 5 minutes. Check on him every 5 minutes, so he knows you are still there for him. He is not too little to understand comments like, "You are a big boy now, you must sleep in your own bed, Mommy and Daddy will be in the other room".
Middle of the Night Wakings-- Follow the same procedure as above, putting him back to bed, maybe laying with him for 5 minutes and being firm that he needs to sleep in his own bed. Then tell him you will be back to check on him. You will be tempted to go back to sleep but don't. Make sure you go in and check on him every so often until he falls asleep. This reassurance allows him to know that you are still there. Try hard to not to get angry and tell him how much you love him.
This will take several days before he starts to understand what is expected of him. There will be tears, for him and possibly you, but stick with it. If you break the habit now, you and your husband will be back in your own bed for some quality time in a couple of weeks. My philosophy with toddlers bad habits, is put up with a terrible couple of weeks changing the habbit and you will give yourself a gift of many peaceful weeks in the future.
I hope this helps. It's only advice, but I've seen friends do it and have done a little of it myslef.
Good Luck!