C.S.
I don't think that rocking her or allowing her to fall asleep in your bed are horrible habits. Co-sleeping can be a wonderful choice and make her feel more secure. We've co-slept for 2 years and my dd is just starting to decide to move into her own bed (for most of the night). She doesn't associate bed time with something bad so she's fine with going to sleep. Don't worry-- your child will learn to sleep on her own when she is ready to. Read Dr. Sears books on attachment parenting!