I need him OUT of my bed!!!!

okay y'all.

My son will be 3 on Monday! with that being said, he still gets in bed with me and my husband. EVERY. SINGLE. NIGHT. we could be dead asleep and then hear his pitter patters on the floor all the way to our room.

So at night my husband will take him to our room to "cuddle" and once he's asleep he gets moved to his bed. (I know this isn't ideal and we're about to try to get him to go to sleep in his own bed) so maybe 4-5 hours after being moved to his bed he wakes up and gets in our bed. My husband literally has bruises on his side from my son digging his toes into him. I wake up with him on my head, feet in my face feet down my underwear. Its a nightmare.

SO, what do I do to get him to sleep in his bed..and stay there?!