Hi Emma
Not sure how I got to this point (given three kids who were all taught to sleep independently) but my 21 mth old cosleeps with me most of the night and feeds to sleep during that time. I don't have all the answers for you, but I'll tell you what I'm planning to do, in case it helps. I have just noticed that my next door neighbour has gone away, so really that means I should get on with it tonight in case it's noisy!
Eliot has a cotbed in the corner of our room, and he does go to sleep in it in the evenings with me in the room, but then wakes around ten or eleven and that's usually when I end up taking him into bed with me. Last week he started screaming hysterically at bedtime when I put him in the cot, so we've decided we might as well take the side off and make it a bed, as he's the same age as the other boys were when they went into a bed. So far no screaming, but plenty of jumping! I have been sitting by the bed waiting for him to calm down and lie down, and then lying next to him with my arm round him while he goes to sleep.
The next stage of my plan is to do the same each time he wakes up. I think my initial goal is to keep him in his bed all night, preferably without feeding him, although I might feed for a few nights while we're getting used to the idea of his bed. It's as much about me getting my head round not having him in my bed! Then once he's going back to sleep without feeding, I suppose I will move to sitting on the end of his bed with my hand on his back while he settles, then next to the bed etc.