Bad sleeper

Our son has always been a bad sleeper but the older he’s gotten the better it’s gotten. Well the last 2 weeks we have changed up how we do bedtime. I used to lay with him until he fell asleep but since we have baby 2 on the way I’m trying to break him of this now. So we started with me laying on the floor beside his bed. Ever since we’ve done this, he now wakes up in the middle of the night and crawls in our bed. I don’t always mind it, but he’s going backwards and I need to stop it before it gets worse. I just don’t know what to do. If I take him back to his bed he’ll just get out of it and come right back. Anyone else deal with this and have any tips and tricks?