How to crib transition

Ok please no Disney moms telling me I should have done this awhile back. It’s not my first child but he is complete opposite of my other. So when I was pregnant I struggled terribly with anxiety and depression. When my son was born he had terrible anxiety. He’s now 14 months and has to be touched on his leg or up against you to sleep.

It was super cute til I just found out we’re expecting lol so I need to get him In a crib before the new baby comes.

Problem is his crib is in our room because we have company here for awhile.

What’s the best way to get him to sleep in his crib while he can see me sitting in my bed lol