Putting drowsy baby down to sleep

I try to teach baby to sleep on his own.but I am defeated each time. She sleeps on my breast. And when I put him down, he wakes up. Because there is nothing really bothering him, he starts playing and talking and looking around instead until he loses all his sleep. Then eventually will start crying because he need help falling asleep. I feel defeated because close to 10 pm, i do pick him up and try to help him sleep or else he will cry endlessly till 1am if he reaches 10pm without sleeping. I would rather he sleeps in my arms than become inconsolable.and I know it is a bad habit. How do I break this?