Parents who co sleep how do you do it?

I am being very literal with this. I have tried a few times and could not get it to work. When they were babies I was afraid to smother them after I rolled over during a nap and my pillow was over the babies middle and I thought that could of been her head and she could of died. Then as they were mobile tried again and it is just to darn uncomfortable. They are right next to you, I don