Put her in bed, tell her it's time to sleep, kiss, hug, and go out. If she cries, go back in, tell her it's time to sleep, go out. Repeat as many times as necessary. She will soon see the futility and go to sleep. Following nights will be much easier if you stick to this simple procedure.
When she wakes up in the night, don't even say anything, just "shhh" or whisper the same "it's time for sleep" mantra, and go back to bed. Let her cry a bit (minutes) and when you go in, repeat as above. Never ever bring her into your bed. She sleeps in her bed, mommy and daddy sleep in their bed. Because she is such a big girl now, there is no room in mommy and daddy's bed for all three of you.
Our DD is 22 months, by the way, and, much as we love her, this is what she gets. Nighttime is for sleep, each in their own beds. That is the rule in our house, anyway.