Audrey who is a mommas girl sleeps on an owl stuffed animal pillow by my pillow, wrapped in her fleecie blankets and I put my arm around her and snuggle her in. When we get comfy, I pull me and the hubbys comforter over her and I. She stays asleep anywhere from 2 hours up to as many as 6 hours with me. I am a light sleeper so I feel any wiggle or movement. If I think I am gonna go into a deeper sleep, I will put her back or have my hubby do it.
My other 3 will only take light snuggle naps with mommy or daddy, or us both.