I understand this as my own youngest son is 5. He will be 6 in November.
He is getting better at going in is own bed, but he NEVER stays in it the whole night.
So, here is what we do:
We try of course to get him in his own bed. Sometimes it works.
We compromise...
One night we will let him sleep on the couch and have the tv on really low on cartoons so he has some comfort. (He does not seem to like the complete silence of his own room)
Sometimes he can sleep with Mom or Dad (we are both tall and the bed is not big enough for all 3 of us) However, this is becoming rare as he is getting used to the idea of his own bed.
He gets to do these things provided he makes an effort to sleep in his own bed.
It is kind of like making the transition slowly.
One thing is he hates it dark. So, we got a spongebob shapped light. Sometimes even that is not enough se we just go ahead and let him sleep with the light on. It really isn't hurting anything if it is helping him sleep in his own bed.
We have also added a small tv to his own room to let him watch cartoons in there (thus, not so quiet in the room)
I know it is frustrating, but just remember soon he will outgrow wanting to be with Mom and Dad and you will miss the closeness then.
Hope it helps!