My 2 year old will ONLY sleep if he's sleeping next to someone.How can I get him to sleep on his own without having to sleep next to someone?

Pretty much since when my son was a newborn he's always slept with me. He's now two and he will sleep through the night if he's sleeping with me or someone else but if he's by himself he'll either sleep for an hour or two and wake up or he'll wake up right away and realize that he's alone. He will NOT sleep through the night if he's sleeping by himself. I struggled with this for years now and since he's two I really want to get him out of this because I don't want to sleep with him forever.. I want us to have our own beds because I don't get a good nights sleep when he's in bed with me because he likes laying all over me.. He sleeps VERY good if he's in bed with me.. but if he's in bed by himself he wakes up multiple times a night until I give up and put him in bed with me because I'm so tired. Nothing works. The only thing I can think of is letting him cry himself to sleep but I absolutely don't want to do that because I would feel terrible knowing he's in his room crying for his mom. If I don't pick him up he'll start screaming and I know that will happen if I let him cry himself to sleep. How can I get him to sleep in his own bed when he's used to sleeping with me?