When Valentine was younger, I sometimes did it in the second part of the night, ~ from 4:00 am to the morning because I was breastfeeding her (and I still do) and I was too tired to stay awake. We fell asleep together and she was finishing the night in our bed. I also did it a few times when daddy had to wake up very early for his work and woke her up by making some noise.
But I was sleeping very bad, I was scared that she could fell or would be hurt (daddy is moving a lot when sleeping!) and everyone was sleeping but me!
Except these few times I avoid doing it because I want her to get used to sleep alone in her bed. She uses to fall asleep in my arms in the evening. It is something many people would not recommend, I know, but that's the way it is. When I am not here, e.g. at the day care, she can sleep alone, so I know she can do it! But I don't want to add this habit to co-sleeping.