How to get toddler to sleep in own bed

Ok so this is what our nights look like:

I put him to bed at 7. He fights sleep for like an hour (I have to stay in room with him whole time or he won’t go to sleep) around 8 he falls asleep.

Then around 10 or 11, he comes to our bed. I put him back in his own and he falls asleep.

Then around 1 am he is back again and honestly we just give up at this point cause we’re half asleep so we just let him sleep with us. So I know it’s partially our own fault.