Good evening, thank you for your question.
There is actually no law against a "family bed", or parents sharing the same bed with their parents. Ultimately, it will come down to if it is having a negative effect on your children. Your children are younger, so they may not be concerned with sharing a bed. However, if they have asked for their own bedroom, or their behavior has been negatively affected since this began, that should be brought up in court. Obviously, it cannot continue for too much longer, with your son being eight. I would imagine in another couple of years, at most, he will be be asking to have his own space if he isn't already.
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