How to stop rocking baby to sleep

So my little one is very determined to get his way. Anything else he will just not stand! Our usual night routine goes: lotion, pajamas, singing, breastfeeding, then rocking. He will fall asleep quickly with rocking, but the only issue is he has no idea how to self soothe. I’ve tried the chair method, and just laying him down and patting his back, but neither have worked! Has Any other former tired mother kicked this bad habit and taught baby to put themselves to sleep?

^munchkin