This is a tough one! My oldest pretty much slept with us until she was 2 (and even now, at 3, she doesn't want her bed, but will sleep on the couch). My 22 month old slept with us until she was 15 months. She was a REALLY restless sleeper and wanted to climb up on my chest to fall asleep. But, at 4.5 months pregnant, it became un-doable for me.
I've never been a fan of the "cry it out" method. But, it worked for her. The first night we put her in the crib, she YELLED for 45 minutes before falling asleep. The next night it was 7 minutes. The 3rd night it was 5. She actually began to LIKE her bed and would go right down.
It did take a while longer to get her to take naps in her crib.
It's really hard, but WELL worth it.
Good luck!!