I now have a 7 month that sleeps with us when he needs to...which is pretty darn regular. My 4th child is currently 3yo and she stopped sleeping with us around the age of 2yo. We just did it slowly.
Your child that goes to day care is more than likely crying herself to sleep (no matter what the day care people say). So in order for her to be comforted at home, I would be picking her up and laying next to her until she goes to sleep (then get up and go about your day).
My 7 month old boy, just now woke up from a 2 1/2 hour nap in his own crib. I nursed him to sleep and then put him in the bed. (his 3yo sister didn't do this) I held him while he napped during the day for the first 3 months of his life. (my boys seemed to be easier)
Honestly though, I wouldn't give her the same treatment that day cares do..not to sound harsh about day care (I have a friend that owns one, so I know that their time can't be spent on one child).
Our 3yo girl wouldn't sleep in her bed either (all of her brothers did great!). She was hard to sleep with, with her stretching out and kicking us, etc. Do we like co-sleeping? NO. But it's not about my husband and me, it was about our child and what she needed. Security, comforting...now a great independent, secure 3yo little girl. At 2yo, we gave her a twin bed and she slept next to us in the same room. It worked out great. She is by herself in her room now and doing great. Her 11yo brother gets her to bed each night..reads her a book, etc. I'd say at about 4yo, she'll be able to head off to her bed by herself. (she just wasn't like her 3 brothers)
Good Luck! I know it's heartbreaking to hear her cry, so I would pick her up and comfort her. I'm not one of those let them cry out people. I have a few friends that do it this way, and maybe it's just the kids personalities, but their kids cry at the drop of a hat..doesn't matter what it is...including boo-boo's. Maybe I just have tough kids. :D