We moved both our kids around 2 -2 1/2. First it is a long process, be patient and remember that they are used to sleeping with you and it will be fine. Neither one of my kids shed a tear in the transition.
We had a pretty strong bed time routine at that point, bath, a light snack, books and snuggle time, then lights out. We would put them in their bed instead of ours and lay with them and tell them a story about their day (a new part of their routine which they both loved, the story could only be told in their big boy/girl bed) and then we would stay with them until they fell asleep for the first few weeks, then we stayed less and less time until within a few months we were at a kiss and a few minute snuggle and we would leave the room.
Not to say that they would sleep the night smoothly, my 6 year old came to our bed last night for example and we just take him back to his room and lay with him for a few minutes and then leave again. We took a pretty laid back approach and the kids are pretty laid back about it too. We do have times where they come back to our bed or one of us sleeps in their room, especially if they wake up from a bad dream or something, but 95% of the time they sleep in their room without a peep until morning (even though I obsessivelly check on them each time I go potty).
Good luck!
