soso- it was an easy and gradual process.
THe family bed remained open to them always and I think that helped, so they didn't feel they were bing pushed out. We set up toddler beds in their own rooms, which was exciting for them, with cuddly toys, story books and nice bedding. At first they would spend the odd night there, maybe once a week, i didn't worry about night creeping either- that was fine too.
Over 6 months or so they were spending 6 nights a week in ther own bed, and one in the family bed. By the time they were 4 then it was always their bed. I would encourage and be upbeat, but no negative pressure.
Ther were the odd occassion after that they would want to sleep in our bed for the night- if they had a bad dream, if they were cold or ill, if there was a storm, if my OH was away on business, or feeling in need of extra cuddles.
It was never a big deal, as long as everyone got a good nights sleep then I have always been very relaxed about night time parenting.
Moving to their own beds was an easy if gradual thing, but involved no tears, no restless nights, no angst, no drama.
Some of my most precious memories of that time are of us lying like a pile of puppies under the stars, cuddling, legs and arms entwined.
My kids are teenagers now and I can assure you they don't sleep with us!!