10-year-olds usually have a good understanding of independence.  You should be able to reason with your daughter about why she should be sleeping in her own bed.  Also, let her know that you expect her to do so.  You can use a reward chart, where you can put a sticker or a mark for every night that she cooperates and sleeps in her own bed.  If she collects so many in a row, you can reward her with something small.  If she is afraid to be alone in the dark, install a night light in her room and leave the door cracked open when she goes to bed.

If you daughter exhibits over-dependence on you and struggles with separation anxiety, talk with a pediatric counselor.

Best regards.

My advice is contrary to popular opinion, but tried and true. Don't try to get your daughter to sleep in her own room. If she is dependent on you and lacks confidence perhaps you lack confidence also, or she is not spending enough time with you to establish her own confidence. It is usually 'caught' not taught. If it takes your daughter until she is 16 to sleep in her own room, what is wrong with that? Get her an inflatable mattress and let her sleep on the floor in your room. When she is ready she will make the move.

Give her some stuffed animal and tell her to please stay in her room and that you need some sleep.