Yeah he did stay there, I didn't leave until he was asleep or VERY close to being asleep and then heard him when he woke up. But he did fall off the bed a couple times, more after he woke up, not like in the middle of the night, but he learned really quickly to stay away from the edge of the bed. We also taught him early on...well about 7mo how to get down off the bed feet first so he wouldn't fall. I tried putting him in his crib a few times, I believe he was 7mo when we set it up and he HATED it, I really think it was the sides around him it freaked him out because he was so use to an open bed. He was really very aware of where the bed stopped and did fine.