Napping tips?

So I'm worried that I have created a bad habit with my daughter. We used to always lay her down for naps and she would sleep for 30 minutes and then I would pick her up and we would repeat this till she was done napping. Well she was always cranky so I just started holding her for her naps and then she wouldn't wake up till her nap was over. She would wake up so happy and so we just kept doing that. Well now we can't lay her down at all and I'm just stuck holding her all day. I love it but I need to get stuff done! If we lay her down she will wake up within 5 minutes. Anyone have any ideas on what I should do?