How Do I Get My Kid Back Into His Own Bed?

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My son had started sleeping in his own bed and I was so thrilled about it. Lately, though, he has started going to bed in his own bed and crawling back into my bed around 4ish in the morning. I am just so tired that I have been letting him stay in the bed with me, but last night he kicked me so hard that this morning I have to go to the doctor to have my ribs x-rayed as I am in terrible pain. He has broken my ribs before by kicking in his sleep which is why I was so happy when started sleeping in his own bed all night. I just don't know how to get him back to staying in his bed all night. Some people told me to pick him up and put him back in his bed, but he is just too heavy for me to pick up. I have some old back injuries that have never healed right and my doctor told me that my son is too heavy for me to be picking up. His father could pick him up, but he tends to wake him all the way up when he tries and then we are up from 4ish until 7ish before my child will go back to bed and that is what time we get up in the morning. If I let him stay up all day, then he is super cranky by 3pm and he is way too old for an afternoon nap that late in the day when bedtime is at 730pm. Any suggestions would be helpful. I am at a loss as to how to get him back into his own bed all night.