I was introduced to co-sleeping by a fantastic health visitor when ds1 was 6 months old, and he'd never slept more than 2 hours at a time, ever - and even then when he was awake, especially during the night, he'd feed for up to 40 minutes at a time, and I'd completely wake up, aaarghh - as soon as I'd managed to get back to sleep, he was up again - and I was at the end of my tether with exhaustion. Oh, it was hard!
HV gave me Three in a Bed, utterly brilliant book; Deborah Jackson explains advantages of co sleeping, and all safety measures you need to take, for example, never ever sleep with a baby if you've had a few drinks, or drugs, never ever sleep with them tucked into a sofa, sleep with the breastfeeding baby's head at your breast level and only a sheet and light blanket over you, etc etc. Your body will automatically curl round your baby, and thus protect the baby. Even the fact that you will be breathing carbon dioxide out, gently, over the baby's head will, apparently, stimulate the baby's breathing, and this is one of the reasons that cot deaths are almost unheard of in cultures when co-sleeping is the norm. Nature is (can be) brilliant!
Total convert after a week! Ds1 still never slept more than 2 hours at a time, but I wasn't waking up completely during the night, so I got just enough sleep, and he was simply happy to footle around gently when he woke up because his dad and I were there next to him, and we all survived, happily.
Then I coslept with next two babies, from the start; I was never tired, everyone slept really well, and we all enjoyed those busy early years. Can't recommend the co sleeping enough - as long as you've really understood the do's and don't's, they're very important 
btw, during georgian/victorian times when babies were banished to nurseries in posher families with bigger houses, the babies and small children nearly always slept with one of the nursery nurses, and weren't expected to sleep alone - the whole thing about babies sleeping alone is probably only about 100 years old - and in the wider picture of human development, is an oddity, not the norm.