Transitioning baby from bed to crib. Help!

My son is a little over a year old now and when he was about 6 months old I started putting him in our bed. My husband worked nights at that time so I can honestly admit that I was the one who started the bad habit of our son sleeping in our bed. But now we want to put him back in his crib but I just don't know the best way to transition him to the crib. He falls asleep on my chest and then I put him in his co sleeper next to me in the bed. Has anyone had to transition their baby from the bed to their crib? If so, how'd u do it?