How can we can get our baby out of our bed without making him miserable? he's a natural late waker.

Slowly: Gently start the wake up process. Maybe first with some gentle music, then the lights in the room and finally some loving comments. Also gentle rubbing or the arms and legs. This slow process on a regular routine basis will help with that late sleeper. However, if you are talking about your 17 year old baby, then we need more rooms to answer that one :-).