We had never planned to co-sleep. We had a cot and a portable cocoon for the boy so he had his own sleeping arrangements, but the moment we got him home we didn't want to put him down. Sometimes he would nap in a carseat or stroller but for the first few weeks no place was better than his Daddy's chest or over his Grandma's shoulder. He was fine sleeping solong as he was being somehow held.
Daddy was very nervous about co-sleeping originally, because he tends to move around in his sleep, but I tend to both sleep lightly and not move about so I have never been nervous about it. It didn't take long before Daddy was asking to hold the boy in bed, or suggesting that I leave the boy with him to have a nap while I do other things around the house. I found that when the boy was sleeping on my chest, he acted like a good little alarm clock, waking me up every 3-4 hours.. like clockwork.
Now he co-sleeps with us if he's being really fussy, but on good days I can settle him in his cot and he'll rest for up to 5 hours. The cot is right next to the bed so I use a thin pillow folded in half in a half width pillowcase as a baffle between him and the bars of the cot so he won't ride up against the bars or wedge an arm or foot in the tiny gap between the mattress of the bed and the cot.
I get the impression my midwife disapproves of co-sleeping (probably due to the SIDS risks associated with loose bedding and the like), while at the same time she is trying to be supportive of our choice, saying that research now tells us that children who co-sleep do not end up dependent and spoilt as people used to say, but rather grow to be more secure and confident people than children who do not share a family bed.
My advice is go with your insincts.