A.M.
Hi,
First of all, let me give you a piece of advice about all of the "experts and doctors" out there. Don't listen to a word they say. Okay, some of what they say is good but they definitely do not know as much as they think they do. Half of them have never even had kids. The only way to learn what you should do is to experience it for yourself. There is no "right way" to put baby to sleep. I have four boys and let me assure you, not all of them will EVER self soothe or go to sleep on their own, while they are babies. My second child out of four was the only one that would ever do that. My oldest would not go to sleep unless he was rocked to sleep. My third one would sleep if I was lying next to him. My fourth had to be nursed to sleep until he was a year old and I weaned him. Now he goes to sleep on his own, but only if I'm lying next to him, so he feels secure and doesn't think I'm going to leave him.
I don't believe in letting them cry it out. They are only babies once; enjoy every second with them while they are tiny (and all along the way). If you let your baby cry and he continues to cry, then he is probably insecure and afraid; he thinks that you left him. He just wants to fall asleep peacefully in your arms and there is nothing wrong with that. That just means that he is going to be a happy, loving baby because he will know that he was loved and that his parents wanted to hold him.
My mother in law used to ridicule me because I never put my boys down when they're babies. Okay, I let them get down to try to crawl and lay on their belly and all that when they're old enough, but I'm right there beside them. It's not that I was paranoid; I just love them to death and wanted to enjoy every second that I could with them. I didn't WANT to put them down. I like watching them and snuggling them and just holding them. Trust me; it does no harm to hold a baby too much, or to rock them to sleep, or not let them "self soothe". They will learn it on their own when they feel secure enough and they are ready. It does not affect how they will "turn out" or anything. My boys were all spoiled rotten and held to sleep and ever since they were a year old (younger for the oldest two), they have gone to sleep on their own, with no troubles. They are very sweet, happy, well behaved, mannerly boys and they are very independent! You are doing nothing wrong... don't buy into everything they tell you. Half of it is bologna! Good luck and have confidence in yourself as a Mommy! You're doing a great job! :)