I have a 2 and a 4 year old.
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We read books in the living room and then put my DD (2) in bed with her many stuffed toys. Â Sometimes she asks me to lie with her and I do for a minute or so (the shorter the better I have found). Â She goes to sleep alone then.
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DS (4) gets another book or more in bed and likes me to snuggle with him. Â Maybe 5 minutes. Â We talk (high point/low point/silly point of the day) and then he falls asleep alone.
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To get DD to where she is was pretty easy. Â We always held her to sleep until she was 18 mos or so then started lying with her instead. Â She started to become a PITA about it though. Â Refusing to settle down so I started leaving her (after a warning to settle down) to go 'wash dishes' or 'read to Christopher' or something. Â Basically a set period of time that she could imagine. Â Sometimes she'd get upset but she was upset whether I was there or not. Â She just needed to work it out. Â In a couple of days she was totally cool with it and started to ask us to leave. Â I think that's WHY she was being awkward to begin with. Â She just wanted to be alone.
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To get DS to where he is was a much more complicated thing. Â He really loved us to be with him while he fell asleep. Â We did many different things. Â sitting in the room with him, sitting in his doorway, letting him fall asleep on our laps in the living room. Â Finally though we just felt we needed to set higher expectations so we would tell him to cuddle his baby (doll) and we'd be back in 10 minutes. Â If he came out of his room within those 10 minutes we would reset the (imaginary) clock and he'd have to wait another 10 minutes. Â At 4 years old he knew kind of how long that was. At some point it became longer than 10 minutes. Â Or shorter if he needed it. Â But basically we got strict about him having to settle down in bed, alone for a specific period of time. Â
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Now it's no big deal with him.  It was worth the (short!) drama.  He really  never got that upset.  Like I said, he's 4 so he knew 10 minutes wasn't a big deal and eventually seemed to figure out that it was easier to just go to sleep than wait for us in 10 minute increments (plus after coming back maybe twice we'd say it would be maybe 20 minutes before we came back again).