How to nurse a wiggleworm?

20131019-120449.jpg Nursing Mamas! Chico has reached a stage where he wants to be on the move constantly. This means rolling away from me on the bed when nursing to sleep, using my body as a stair climber and kicking me with his feet, etc. Does this mean he's ready to wean? I would like to continue breast feeding but I'm getting really frustrated with having to hold him down so he doesn't hurt me or squirm away. Help!! TIA