Help me get my kid to sleep😭

My daughter is 21 months and from the beginning she was a great sleeper. She’s had her phases but we’re pretty much back to normal, which isn’t necessarily a good thing.

Normal consists of her father or I laying with her until she goes to sleep and sneaking out of her room.

I never used to mind. It meant no matter how busy our day was, I’d always get cuddle time at bedtime. But now she’s almost 2, and it’s getting harder to sneak away once she’s asleep.

How do I get this kid to fall asleep on her own? I know we did this to ourselves but I need some advice.

(I had to take one side of her bed rails off since she started climbing over so I can’t leave her to cry at all because she’ll just get out of her bed)