How do I move back or adjust my daughter's morning wake up time?

My first child is 14 months. She goes to sleep at 7:30 and sleeps like a champ. However, she will sometimes first wake up at 5:30 AM. This sometimes occurs because she has misplaced her pacifier or has a dirty diaper. We can generally get her back to sleep in her crib. However, no matter what, she wakes up about 5:55 AM and starts crying. We are in the routine of bringing her to bed where she will sometimes go back to sleep until 7:30...but will sometimes get restless. It is also tiring because she tosses and turns for a good 15 to 30 until she fully gets back to sleep. It also limits our space in bed. I'd like to know if there is a way to get her to sleep in her crib until 7 AM or so. I'm sure someone else has had a similar situation?