Getting baby out of my bed!!

My 6 month old has coslept with us since he was a few weeks old. He naps in either mine or my husbands arms for every nap. This has just been what worked for us...but we have decided to start the sleep training process. We live in a 1 bedroom apartment, so his crib has to be in our room and he doesn’t take a binky. He likes his swaddle to suck on sometimes but is that safe at his age? Any advice would be awesome!! What worked for you? Super anxious about this haha