Sleeping arrangements -- from bed to crate?

So I've decided that I want to have my dog sleep in his crate. He's been sleeping with me since we got him (~3 months), and there hasn't been any dominance issues at all (we practice "Nothing in life is free" and he responds well), I just want my old ability to move around wherever back lol. Also, better for the future, if I ever go away and he needs to sleep in his crate, it will not be a problem.

How should I do this? I live with my parents (only 22), and I cannot have him barking for hours in the night, as they'll wake him up...or will he even bark? Will he just whimper?

Please someone give me some protocol...

Thanks!