I am sure in most states that is actually considered a form of abuse. I knew someone years ago that co slept with her toddler and had sex with her husband in the same bed while the child slept and they considered that abusive to the child. If you are going to move forward with trying to change a parenting plan or filing documents with the court I wouldn't wait to long after the initial happening. Courts might wonder why you waited so long to proceed if you linger too long in doing so.