Mercedes used to until her last year and she couldn't jump up or down any more...
Gracie has only a few times..she wet the bed the last time so I dont think she is ready yet..lol...she is only 4 months so maybe when she is a little older..but she is getting a princess bed for Christmas..and so she will probably sleep beside it. Our bed is really high and I hate for her to jump up altho she can, takes her several tries tho. (right now we are still crate training)