Hey J.! You didn't say how old your son is, but I'm guessing not too old since he's teething. I wanted to let you know you're not alone in co-sleeping with your kid. We co-slept with our son (who's now almost 3) from the beginning. He also fell asleep on my chest and slept there soundly for about 6 months when he finally got too heavy and slept right next to me. It was the best situation for us (he was sick when he was very little, etc.), but we always felt like we needed to get him into his own bed.
He actually slept in his crib 1 night. Period. He slept with us until he was ready for his toddler bed. Then we got him into his own bed in our room, then finally have transitioned him into his own room - but it was his choice. Don't feel badly about cosleeping if it works for you. You aren't warping your child (at least not in my opinion), but you are bonding with him, teaching him that he is safe while he's sleeping and building healthy sleep habits. Just my opinion though! I strongly believe that you've got to do what works for you & your kid.
That being said, when we worked with getting Chase into his own sleeping space, we found that a consistent routine that we could all live with was the only way to go. Bedtime at the same time every night, same routine (bath, stories, songs, sleeping). We never let him cry it out (I just couldn't do it), but we wouldn't go right to him when he fussed. We'd give him a minute or 2 to try to work it out, but we always went to him fairly quickly. Cry it out doesn't make sense to me - it seems like it just teaches your child that sleeping is lonely and isolating. Not what I wanted my kid to learn.
I know my beliefs won't necessarily be popular, but it worked for us. My nearly 3 year old sleeps in his own bed, in his own room all night, puts himself to sleep, soothes himself back to sleep and has a healthy attachment to both of his parents. I feel like he has a healthy attitude about sleep because we worked through sleeping separation more at his pace. I know lots of parents who have their kids sleeping in cribs in another room from day 1 - I admire that, but it just didn't work for us.
Good luck - I hope I helped some, even if you just know that you aren't alone!