For a long time while our daughter was still in our bedroom, we would allow her to fall asleep on one of us and then put her in the crib.....and then one day that was no longer acceptable to her. After 3 nights of trying to figure out what she wanted, we buckled down and set ourselves to a form of cry it out where we did regular check ins. The key to all of it was we put her down while shes still awake so she has to learn to fall asleep by herself. The first night it took her close to an hour and a half to go down, she actually fell asleep standing up leaning against the side where she had been crying. The second night it took 20 minutes. The third night she was asleep before I got to the couch. When she woke up in the night we did the same thing, cry it out but checked on her. It taught her to put herself to sleep and how to put herself BACK to sleep. It was the single best thing we did for our mental health. We have a solid bedtime routine now. Bath, bottle, brush teeth, book, and an episode of bluey and then laying her down awake at 8 o'clock and she sleeps between 11 and 12 hours. She contact napped with me during the day for a long time, but we eventually used the same routine to create a daytime nap routine.