I agree with Jamie. This takes a bit of try and error with the baby. For my son, it takes a couple of tries before I can fully put him down. It's easier to put him down after he's in deep sleep. It also helps a little if you can create white noise like "shushhh" while patting him after laying him down.
You can also try putting one of your old shirts (or anything with your scent on it) in the corner of his crib, tucking it under his crib sheet so that it will smell of you. Alternatively, sleep on his crib sheet for a few days for the same effect. Having your smell around may help comfort and calm him.
You have to ensure that your baby is in deep sleep before placing him into the crib. If you put him down immediately after he closes his eyes, there's a large chance he might cry. Pat him for about 15 minutes more after he closes his eyes and lay him down.
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thanks