I have always co-slept with my son, who is now three, and my daughter, who is six months old. We don't have room for a crib, even if we wanted one. For my daughter I put a big pillow between her and the edge of the bed and there is a pile of stuffed animals on the floor, if she were to fall, but she never has. My son, as he got older, did roll out of bed a few times, but our bed is not that high off the floor, so he generally just climbs back in and goes back to sleep. So, I guess I would have to go with the people who say to lower your bed or remove the frame altogether. I think sleeping with my babies is the most wonderful thing in the world. Good luck to you!