Bedtime Troubles

We made the mistake of letting the children sleep with us when they were babies.  It was so much easier then.  Their bedrooms were on the other end of the trailer so not only could we not hear them if they cried in the night, it was like navigating a mine field of toys in the dark to get to them. 
They are not the easiest things to share a bed with.  First of all we had to go through the nightly fighting of who got to sleep next to mommy because daddy wouldn't snuggle with them, or he would tell them scary stories, or he would stick their feet over the edge of the bed so the monster under the bed could get them.
Rachael had to sleep with my arm under her.  Jake wanted his back rubbed. 
Jake would start out laying like the rest of us but often times Kenny or I would wake up with his toes in our nose or Jake rutting our pillows into the floor.  He would often fall out of bed.  There is nothing like waking up in the middle of the night seeing stars after one of the kids socked you in the eye in their sleep.
We tried to carry them to their rooms after they fell asleep but it seemed that they would beat us back to our own bed.
As the kids got older and we were sleep deprived we (Kenny) decided it was time to get them in their own beds. A couple of weeks ago, when school started, we started working on getting them used to the idea of sleeping by theirselves.  The first night Kenny took Rach to her room while I took Jake to his.  The first hour we spent listening to Rachael scream and cry because she wanted her mom.  After I got Jake to sleep I went to my room and shut the door.  A little later Kenny came in.  I had assumed that Rachael was asleep but Kenny left her in her room and told her she could go to Jakes room but she couldn't come to ours.
After a few nights of this and laying in bed with them until they went to sleep, one night I went to bed and left Kenny to put the kids to bed.  He came in our room and laid down.  A little later we heard tiny footsteps come to our door then turn around and leave.  We thought it was a little strange but didn't go check on them. 
A couple of days later their grandma came over to visit and she told us that Rachael had come over to visit and was bragging that they were sleeping in their own bed.  Rach said that the night before Kenny had put them to bed and Jake was crying for his mommy so he got up and went to the bedroom door but couldn't get in so he went back and got in bed with Rachael and said " Rachaeld, daddy's got the door locked.  We're doomed now."
We are now able to put them to bed with hugs and kisses and leave without any major meltdowns.