Crib sleeping

My son is 9 months and has been sleeping in his crib for a few months now however I still can’t have him sleep

A full night in it, he will go to bed in his crib fall asleep he will turn sideways and eventually be upside down in his crib , every night though at around 2ish or sometimes 4ish he wakes I’ve tried diaper changing feeding etc nothing works he will fall back asleep in between me and my husband how can I get him to sleep a night without waking at night unless it’s for diaper change ? Is this normal ? I don’t want him to get used to being with us in bed !! I love it BUT I need him to know his crib is where he needs to sleep the night !!!