Baby sleeping with you

Is it really bad to let your baby sleep with you sometimes after they are born? After I fed my baby last night, rocked her back to sleep.i layed her in her bassinet and she cried and I patted her on the back and she wouldn't go back to sleep just kept crying. So I layed her in the bed with me and she fell right asleep. Today after I feed her she will fall asleep, I'll lay her in the bassinet and she cries. I don't  wanna make it a habit where she sleeps with us all the time . What are some ways I can do to get her to sleep in the bassinet ?