Daughter cries when she’s put down

My husband and I are generally confused and worried. So about a week ago, we could put our two-month old daughter in her crib to sleep, and she would be just fine. She would not wake up or cry until she was hungry, which is usually 4-5 hours during the night. Now this past weekend for the 4th of July, my husband and I went to my mother's house for about 3 hours to eat and talk. During that time, my daughter didn’t sleep much because everyone was holding her. When we got back that same night, she hasn’t been able to sleep in her crib. Every single time we put her in there to sleep, after being fed, of course, she cries bloody murder. And no, I’m not exaggerating, she literally cries as if a doctor gave her shot, and she won’t stop until my husband or I hold her on our chest again. Once she’s on our chest, she falls asleep instantly. So basically, I’m asking why? Did we do something wrong, or is she in any kind of pain? Is this normal???

I also know it’s not safe to lay in the bed with our daughter on our chest to sleep, but that’s honestly the only way she will relax, and the only way we can get sleep without her crying. My husband and I do not know what to do!!!