Tips on how to stop co sleeping

Allison
I need help! My son is now 7 months old and I can't get him out of our bed! 
I never meant to co sleep, he's my first baby that took us 2 years to conceive and I just wanted to cuddle him all the time. So I'd hold him while he slept which ended up with him sleeping with us.
I've tried a few times to get him to sleep in his crib. His eyes pop open as soon as he touches the mattress, even with his naps. I've tried to let him fuss it ou,t but he seems to wake up more with crying and is hard to calm down after crying for a while (no more then 10-15 minutes).
He kicks and rolls a lot during the night and has pushed me almost out a bed weekly if not more. I'm not getting any rest, please help!