Night time habits

So LO starts off in his pack n play next to our bed every night, however, almost every night he ends up in our bed because he’ll wake up a few hours in to the night without being hungry. Husband and I have gotten lazy and brought him into our bed when this happens to avoid rocking him endlessly to try and get him back down in the pack n play. Basically we’ve created a little bed sharing monster and it’s completely our fault.

Question is- how do we break this habit? I want my own bed back and I want to be able to cuddle my hubby at night!