First, one night is not a routine, just keep doing what you did that first night. Second, you could gradually move out of the room. On the first night, you put him in his bed and go thru the routine, for the first month or so don't vary from it, but instead of laying down with him, sit next to his bed. Over the next several nights gradually move closer to the door, so that he feels comfortable, and you are not in bed with him. This may take more than 10 days! Within a month, you and your husband can enjoy some adult time after the kids go to bed! Each child is different, and day by day too. My 6 yo sometimes wants to just give me a hug and kiss, she grabs her bear and says "I'm putting myself to bed", likewise my older boys sometimes want me to walk up with them. Be prepared for regressions, my kids even now at 13, 11 and 6 sometimes can't fall to sleep in their own beds. SO I look for signs that they are getting sleepy and walk them to their rooms so that they can go to bed.
Another thing that my husband and I did, don't have it overly quiet! Many parents think that their kids won't go to sleep if they hear sounds, this leads to the kids not being to sleep if they hear any noise. My kids can pretty much fall asleep anywhere, except in extremely noisy places. I am not suggeting you have a party(altho I can remember my parents having parties when it was my bedtime), but just go about your regular routine.
We also let them sleep on floor in their bedrooms if that's what they want. As long as they are in THEIR rooms after bedtime.