My kid used to fall asleep in my bed every night when he was an baby. We'd try to move him to his bedroom, but the second he was in his crib he'd start crying and yelling for us. So we just left him on our bed and we'd move to the floor (or shower, or bathroom counter-top, etc.).
A co-worker with a kid about the same age as mine told me a similar story. His kid fell asleep in their bed every night, so he rolled over on top of his wife and was trying to fuck her quietly and the kid yelled out "stop shaking the bed".