One Step Forward - Two Steps Back

I worked really hard with Joshua through November to get him into his bed. he did great for three weeks, but now he's back in our bed and won't sleep at all unless both Daddy and I are in bed with him. Prime example, I took him to bed and Raul slept on the couch this past week because of his surgery and didn't want Joshua bumping it...at 3am I was woken up by movement in the room. Raul was bringing Joshua to bed...he'd been up with Daddy because he didn't want to sleep without him.
I'm not quite sure where to start. I bought some twinkle lights and put them around his window in his room and said that he could have them on only at night when he is sleeping in his bed. So, we'll see if we can do this all over again.