change in sleep routine for my toddler

Hey, I need suggestions from other moms who have toddlers or older kids.

My daughter is 2 and a half almost and got into the habit of needing to fall asleep in our bed every single night over the past few months. She also needs both my husband and I there so she can fall asleep. Once she's asleep we then put her in her crib and she sleeps the rest of the night in her own bed with no problems.

So, we have been letting her fall asleep in our bed because she would just stand up and cry in her crib if we put her in there to fall asleep, and she would wake up in the middle of the night crying and calling for us . It was just easier and faster to calm her down by bringing her in our bed. None of us were getting sleep and then she would take a 3 hour nap in the middle of the day to make up forbloat sleep and stay up later and have the same cycle over again.

The reason I want to get out of this habit... I'm 23 weeks pregnant, due December 28th. When our new born comes I need her to re-learn how to fall asleep on her own because there won't be as much room in the bed for her.

How can I get my toddler to feel comfortable again with falling asleep in her own bed?