S.A.
I don't think you are a wimp.
I co slept with my daughter until she was 2.5 years old. When we made the switch to her own bed, I made sure her bed was big enough for me and her to lay down in. Then I would lay down with her til she was asleep, and leave when she was asleep. At first she woke up a few times a night and I would go lay with her and pass out or go back to my bed. After a few weeks of this and she was used to her bed and her room and waking up less, when she DID wake up Dad stepped up to the plate and would go to her and tell her mommy was sleeping and couldn't come lay with her. She was a little sad but ok and soon started sleeping through the night in her own bed.
It was a gradual gentle process and she was ready. To this day, at age 7 she still loves going to bed and has no problems. I feel like its important to meet their needs and then when those needs are met, they won't have those needs anymore.
I plan to do the same thing with her little sister when she is ready. She is 10 mos old so Im just watching to see what she needs as every child is different.
Good luck! :)