Naptime -nursed them to sleep until they gave up their naps (at 2 1/2 and 3 1/2. . .and the baby better keep napping for a while longer)! Actually, losing the naps was a HUGE step in decreasing their nursing frequency, as they'd nurse down to sleep, and nurse upon waking up, so that cut out two LONG nursing sessions a day,
Bedtime -at some point, probably around 4 or so, they stopped falling asleep while nursing. For DS, it actually begin to seem like nursing was over-stimulating. They'd also gotten to the point where they wanted to talk/decompress at bedtime, so gradually we changed from nursing to sleep to nursing, then talking, then falling asleep while cuddling. It was partially child-led (they wanted to talk) and partially Mommy-led (they weren't falling asleep, so we started trying something else).
If I wasn't home, DH would rock, walk, or cuddle to sleep. Depended on their age. By 4, they could lay down w/ Daddy and fall asleep just as easily. Didn't seem to particulary miss that nursing if I wasn't there.
Oh, we have a family bed if isn't obvious!