You have a very special baby! High needs, yes, but if you treat him right, he will amaze you. Mine was like that and since he was my first, I was able to go with it. I held him a lot for 5-6 months. He mostly just wanted mama and nursed a lot too. I had nursing areas where I just sat and read, watched TV, talked on the phone, or slept with him.
He did crawl by 5 mos and walk by 9, but he didn't sleep through the night until he was almost 2, even sleeping right next to me. My husband tried letting him cry when I was out once, and he cried his heart out for 2 hours!!! Some kids just need human touch more than others. I see how he is very in tune with other people's emotions too, asking how they're feeling and sharing his toys when another kid wants to play.
It does drive you crazy when you think you are supposed to be doing something else! Ask for help! Family, friends, get your husband more involved. I had to let go of a lot of things like housework, but I'll tell you it was worth it. My son knew I loved him instead of wondering if or when anyone will come find him crying alone in a crib.
Dr. Sears is a pediatrician who writes really good books for parents – start reading The Baby Book. It will help you to trust your inner mothering instincts and provide what each child needs from you.
Just hold him please. Invest in a carrier that works for you. You might be able to find a store nearby where you can try several styles on and see what you like best. I had a sling, baby bjorn, maya wrap, body wrap, and Ergo carrier for different stages and carried my son until he was about 18 mos, and like I said he could walk at 9 mos! He'd run away from me at times, but I knew when he needed to be held too. I've even carried him a couple of times after 2!
They grow up so fast, isnt' it nice to know you can influence your child's dimeanor for life by simply holding him a lot when he is young?! You can affect it also by not holding him and teaching him early on that he is not important, but I'd rather have a happy well-adjusted child than one who lashes out (you'll think it's at nothing) or seems angry too much.
I've heard from people who raised multiple children differently and wish so much they could go back and change what they did with their first after seeing how things like holding an infant and meeting their needs truely effected the other children they did it with as they got older!