I do. It's not madness. Quite the opposite. It ensures you get more sleep, the DCs feel really safe and warm and well, it won't be forever.
DS is 3 and 3 months. DD is 15 months. Have done since DD was born. I was never nervous about it. Perhaps I should have been?
DD goes between me and DH whenever she wakes up in the night. DS hops in next to me sometime during the night too.
It helps we've got a superking size bed. It also does take some getting used to but I don't mind it. DS is now actually only starting to come in between 5am-6am because he just doesn't wake up to leave his own bed.