We've been cosleeping with our twins since the day they were born...literally!
I slept with them in the hospital and was actually surprised to not get any flack from the staff about it. I had given birth to my oldest dd in the same hospital and got a comment or two about sleeping with her then. But this time around no one said a word.
When they were very small, I would prop them up on either side of me with pillows and me laying on my back. They would be at breast level then and I could just roll them toward me when they needed to nurse. I found very quickly that it was easier to lay one on the bed on either side of me and just roll back and forth to whoever wakes up. That can get sticky when they wake at the same time but we usually just work that out when it happens. When I put them to bed at night now I usually lay them down together and then when I go to bed I'll lay on either side of them. Then when the first one wakes I scoot her over and get between them.
I can honestly say that cosleeping has been what has saved my sanity with all of my children. I have very rarely had nights where I was truly sleep deprived. Yes, my girls do still wake often at night but it is so easy just to latch her on and go right back to sleep.