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My 2-year-old would constantly get out of bed until I installed a lock on his door. Once he realized he wouldn't be able to roam the house, he started sleeping in his bed.
Dr. Karp also suggests using a gate or lock to keep your toddler in their room. "Say something like, 'Honey, this is Mr. Gate! Mr. Gate will help you stay in the room so at bedtime, after we sing and read and say night-night, then we'll close Mr. Gate, and he will help you stay safe and happy in your room all night.'"