E.S.
Bah! Co-sleeping isn't a bad habit. It can be wonderful!
Here is what we did w/ our first: right around her 2nd bday I decided it was time to move her out of our bed. She was driving me nuts w/ her habit of rubbing her feet on my legs.
So I got the crib mattress out of the unused crib and plopped it on the floor next to our bed.
I put some soft king sized pillows (2) on it and then a twin sized fitted sheet. This made it feel less like a slab of cement and more like our bed.
A friend of mine unknowingly sent us a godsend birthday present-a glowing bear. She loved it.
I gave her my own childhood blanket and told her it was "mommy's love".
I know you are thinking-this child was on the floor next to you...but it was a big transition for her.
Anyhow...she did fuss and she did try and get back in our bed for a while, but she did learn to stay there.
She stayed in our room until the birth of her brother. Mostly because we don't live in a great neighborhood and we were not comfortable w/ her in her room (still don't love it-but she is older now).
I recommend baby steps. And of course you can go through those baby steps at your own pace.
Don't feel bad for co-sleeping! :)
HTH! Pm me if you need to discuss further. :)