Need advice from parents who sleep with their baby . How to be intimate with your spouse when there is baby on your bed?

I'd say schedule sexy-time when your child isn't around because as long as your child is nearby, you're not going to fully focus, I feel. Take half a day off work, or meet up for a lunch "date" or even have a night where you can ask your parents to watch your child so you can have a proper date night+sexy time with your husband.