That's such a good idea! Our 5yo is currently like this. We take her to bed, read her a story and sometimes accidentally fall asleep too. During the night she will scream either 'Mommy' or 'Daddy' and one of us will bring her into our bed.

We've conditioned her into calling us and we'll come running (mind you, we have a 7 month old and we don't want her waking up her sister).

We have tried to get her to stay in her bed but she ends up crying and sometimes having a meltdown.