Hello R.,
Unfortunately, your first line of your message says it all!
"My daughter has been sleeping in our bed since she was 6 months old. Now we would like our bed back."
You cannot successfully break that kind of a habit in one night or sometimes even a week. This is a situation that you created and so unless you want to suffer for up to 2 weeks + to get her to sleep through the night in her bed, there really is nothing short of anything you can do, except let her cry it out. Each day/night it will get easier, but if you want to sleep in your own bed, this is what you have to do. The book that helped me was "Healthy Sleep Habits, Happy Child", you might want to try that and see if that could give you any pointers. It really helped me but then I was exhausted all the time when he was just first born! I don't do well without sleep, so we had to do something.
I know a nightly routine of the same thing alwaysh helps too. My son will be turning 4 in June and we do the exact same thing we have done since he was about 3 months old (when he finally slept through the night) and have kept that schedule no matter what or where we are! He sleeps 10 to 12 hours every night and hates getting in our bed! We never allowed it and so he doesn't like it and wants to get back in his bed! When he has bad dreams he gets in,but afterwards, he wants back in his bed. Kid's like routine and that is what worked w/us.
Good Luck, but habits are like weight, easy to form, but much, much harder to break!(lose)
G. B.