V.W.
I agree with Julie. M., your toddler can climb into his toddler bed all on his own. He really doesn't need to you to "drop him" into the bed, either... he is old enough to easily climb right in. You will need to adjust his bedtime routine, yes. But that is to be expecting with a growing boy. :)
If you want to sit in the rocker and read him a bedtime story, then tell him it's time to get into bed.. he can climb down off your lap and then into the bed and you can tuck him in. Surely you can bend (or get down to your knees) enough to tuck him/kiss him goodnight.
For whatever it is worth, I didn't have near the problems I have heard so many mention regarding getting their toddlers to stay in their bed at night. What was my secret? The best I can guess is that I didn't use a toddler bed, but a regular twin bed, and I had those bed rails that ran the length of the bed (and folded down and up). He would climb up the foot end of the bed, get in the covers, and I'd tuck him, etc. The rail would go up, and he was snug and secure. Same thing with our daughter. Something about the bed rail, I think, helped them know that they needed to stay in bed (very similar to their crib too). Even though they could easily get out of bed if they wanted, they didn't seem to feel the desire to get up.
hth