My daughter still sleeps with us off and on but we've learned to adapt to it.
Where does your son sleep for nap time? Usually that is the best way to start getting them to sleep alone. Put him to bed in his own bed and then go from there. Good luck.
Still sleeping with you.
Just put him in a crib and let him cry it out.
Sadly, too many parents learn the hard way that it is alot easier to do something one way from the beginning, than to try to change it down the road. There aren't alot of options here, either he continues to sleep with you, or you start putting him in his crib while he cries night after night . He will learn, if you let him learn, but it's not going to be easy. Do let him know that you are there for him, but that he needs to stay in his bed. IMO it's not the best thing to have the baby in the bed. I don't think it is safe for the baby and parents need their sleep too, and then there is the issue of getting the child out of the bed, at whatever point that is.
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