My son started out in his bassinet. Then once he began to roll over at 4 months old we tried switching him to his crib. It didn't go so well because he rolls onto his belly and gets upset because he can't roll back over on his back to sleep. About 4 weeks ago I started letting him just sleep in bed with my husband and I because he will sleep solidly all night that way. I don't want to continue this bad habit and want him to be able to sleep in his crib by himself. He also only naps when in someone's arms. Any tips would be appreciated.