Your son may be having night terrors or may simply be getting used to climbing into your bed where he feels warm and secure. As he has been sleeping in his own bed for a long time already it is important that he does not get into the habit of sleeping in your bed. There is only one choice and that is to lead him back to his bed each time he appears in your bed. Kiss him goodnight and reassure him and leave the room. A nightlight in his room will help as well.
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