Help! Need sleep!

harm2

DS sleeps in the bed with us and has decided he has to be ON top of me to sleep. He crawls up on me and cuddles in. As soon as I put him down he wakes up crying. I end up giving in so that he won't cry, but then I am pinned down all night. I know we need to get him in his own crib but we have tried and there's just too much crying to handle. Any advice?? Please!