Can't get 9 month old to sleep in his own bed !! Help ???

For the past couple weeks, I've been having a hard time keeping my 9 month old son to sleep in his own bed/crib. He'll sleep in there for a good 10-20 minutes, then he'll wake up, & cry because he wants to get in our bed. He won't stop crying or lay down and gts unless he's in our bed. My SO & I only have a full size bed (we just moved in together) so having the LO in the bed with us just makes in uncomfortable for us both (especially since he's a wild sleeper) any suggestions on how to get him back sleeping in his own bed? Any help would be greatly appreciated :)!