How do I get my 21month old from co sleeping to crib trained?

I had trained my girl to sleep on her own at 6 months, but at 9 months her lazy father never wanted to take the time and go through a routine, so he started bringing her into our bed. Now she won’t leave it. I do love sleeping next to my girl, but the process it takes to put her to sleep makes me miss out on a lot of housework. A small part of it is me missing space on my bed! Help.