Hello, DD is 5 months and we started co-sleeping at about 2 weeks when it became apparent it was the only way any of us was going to get any sleep. We'd bought one of those cots that goes up to the side of the bed, but she wouldn't even sleep in that so it's become a glorified bedside table.
You can find the guidelines on the FSID website. www.fsid.org.uk/babycare.html but it's worth googling as there are some interesting other studies. I read somewhere (sorry can't remember where) that, if you follow the guidelines (don't co-sleep if been drinking, taking medication that could make you drowsy, etc) it actually reduces the risk of cot death because being close to mother's breathing helps babies own breathing rhythms to stay regular.
I have DD in a grobag on my side of the bed (with the empty cot as bed guard - the cat now sleeps there!) as I don't think fathers are as tuned in so I don't like her to sleep between us. I have her below the pillow and I only have the duvet over my legs but wear a thick cardi.
DD helps herself to the breast after the first feed, because I usually drop off so don't put things "away" so we do get a lot of leakage but oh well... I bought a couple of big cellular blankets but actually prefer my cardigan route.
DD cluster feeds in the evenings but once we've gone to bed she generally sleeps through with the odd snack that doesn't really wake us up. For the first three months she would sometimes sleep till 10am at weekends now she generally wakes between 7 and 8.30, which I reckon is very civilised.
It's just lovely waking up to your smiling baby next to you. We began on a needs must basis but I'm so glad. Only thing is we need a bigger bed! Good luck