Tips for putting baby down for bed.

So we have the usual routine. Bath time, feed, rock and sleep then swaddle and put down. Problem is, baby girl needs me to rock her ALL the way to sleep. As in sometimes ill be sat there rocking for 30-40 mins. Initiallh for the first 5-10 mins she cries whilst i use her pacifier and pace the bedroom to calm her (no matter how sleepy she is she still does this every night). My main problem being, my back is now in agony! Unfortunately, she doesnt get off to sleep with my husband, so it literally means that its ALWAYS me putting her to bed and my back is done for. I know some people just swaddle and put down and baby falls asleep themselves - how?! If i do that, no matter how tired she is, she will immediately start squirming and crying to be held or put to sleep properly. Please help! Also, i cant swaddle her before rocking as she hates it and statts squirming in my arms to get out. So i wait until shes fallen asleep then swaddle her and put her down.