Mom in need of advice!!!!!

Mia`love

Hey guys!!! I need some advice m, my son is 2 and has only slept through the night 1 time when he was much younger. He toss and turns, cries out for me. He also kicks and fight a lot as well seeing how he’s sleeps with me and dad. When he falls asleep I’ll put him in his bed, but at some point in the idle of the night he will cry out and I’ll just pick him up and put him in our bed. Any suggestion how I can help he stay in his bed and get a restful sleep. We do have a schedule with dinner,bath and bed but it’s not working. Open to any suggestions. 😊