Well, I feel your pain! I have a 6 year old that slept in our bed until he was 2 1/2, a 3 year old that slept in our bed until he was 2 1/2 and now a 6 month old that sleeps in our bed. What we did with our boys is this... Put a toddler bed right next to your bed. I mean RIGHT next to your side, to where she can reach out and touch your bed and maybe you. Make it fun by playing peek-a-boo by hiding your head in your bed and then looking over the side and saying something she finds funny. She'll most likely like this game and associate you being right there when she's in her bed. Use whatever fun games you can think of to get her to associate happiness with her new bed. At night you can offer to hold her hand and sleep with your body close to her bed so she can see you. Then, after she's gotten comfortable sleeping in her bed, move the bed slightly away from yours. Then move it slightly again, and again until she's getting further and further away. There may be times when she wants her new bed to move back, and that's ok. Just think that when she's 16 she won't be sleeping right next to you (unless you want her to). ;)
It took us a long time with our first and we settled with having him sleep in his toddler bed 5 feet from me for 6 months (he was very clingy to me). It got him out of the bed and to stop kicking my back at night. I was pregnant with our second son and I couldn't turn over because he might kick me in the tummy.
To get them to stay in bed I used to play games with my boys when they were in bed, but only if they would stay there. We would play 30 minutes of silly games, sing songs, hold hands, and I would give lots of praise. It was hard the first few nights for the boys to go to sleep that way, but it totally paid off! With the first (clingy one) it took a while before he was in his own room, but with the second one (much easier child) he was sleeping in his brother's room in no time.
I've also heard that using a special doll or toy can help. She can only play with it in her new bed though. :)
Good luck J.! I wish you very well in your future efforts. You'll be reclaiming your side in no time!