E.M.
This will take a few nights or more, but it works. I'm in a moms club and we've had professionals come talk to the group...this is their advice:
When your daughter gets up, don't talk to her, don't make eye contact with her, just lead her back to bed, and walk out. (No negative or positive reaction from you...nothing at all.) She's going to get upset and keep getting up. Sometimes kids continue to get up for HOURS for the first and second night. After that, they start to get up less and less b/c there is no payoff for them.
You & your husband are going to be tired and frustrated for a while. DON'T GIVE UP! One child psychologist once told our group that all people will try something 20 times to get a result to repeat. (Think about people that win a jackpot on a slot machine...they will try on that same machine 20 times without result before giving up on it.) Kids that get a toy on a shopping trip to Target after throwing a tantrum will try the tantrum thing on the next 20 visits to Target to try for the same result before giving up! When I heard that, I vowed never to give in to bad behavior without being prepared to deal with it again and again.
Good luck!