Sleep training?

Ruth

My son is 6 months,

he sleeps on me,

I am with him 24/7 and babywear alot.

If i put him in bed he will cry nonstop various degrees if i go to him pick him up soothe him he will scream as soon as i start vending over to put him in the crib. He will cry for a long time, once or twice i tried to let him cio, i ended up picking him up because the process was like 2 hours and he wasnt even sleeping. He was tired and just wanted mommy.

How do i get him to self soothe?