Co-sleeping...?

We're only a few weeks in, and already Lincoln is on and off settling in his own crib. Some nights we're blessed and his tired little self is too sleepy to notice, he just sleeps in his bed comfortably next to mine. Other nights, its not so simple. He's crying for a feed, so I bring him over and nurse him in my bed sometimes holding him while I sit up, or I lie down with him feeding on his side next to me. He drops off to sleep and I gently slide/lift him back to his own crib, I set him down, move my hands away annnnnnnnd....cry cry cry.
   Ok, Momma's here, I bring him back to my side and instantly the crying stops and he's content again. I'll say now and forcibly, I do not agree with leaving a newborn to "Cry it out" a part from the fact his screaming would do our heads in, and wake us up more, its not maternal or nurturing in my opinion to let an innocent, unknowing baby to cry in distress without comforting them.
   So, we have a dilemma, Co-sleeping is not recommended, although a lot of parents do this. Neither Adam or myself want to start a habit that will take years to break, but my little bear is so much happier next to me in bed and I get a better nights rest for it. What do we do?

I continue to try to coax him to his own bed, and like I say, sometimes he does accept this, but not always. Are we starting a bad habit? Are we sacrificing our relationship already by allowing little one to share our bed? Or are we following nature like so many other species of mammals who co-sleep with their young. Are these few years precious enough that we can forsake strict advice and allow Lincoln free rule at nighttime? Are we spoiling him already? or are we nurturing him lovingly?
All these questions first time parents face and no one can really answer, only time will tell. But I wanted to share as our first main dilemma we face as parents.