Is it wrong to cuddle with your child until they fall asleep?

My nearly three year old has recently started asking for either myself or her dad to cuddle with her until she falls asleep. She was able to out herself to sleep but at bedtime she says she doesn’t want to be along and she is sad when she is in her bed by herself and she just wants cuddles. I don’t know what to do. Is it bad if we cuddle with her until she falls asleep?