How long should I wait?

So my son has just started putting himself to sleep, we struggled with different types of ways of getting him for naps and bedtime and finally we've figured it out. I'll put him in the crib, he'll cry for about a minute if that and then he'll take maybe a couple minutes to get comfortable and then he passes out. However for the first time I put him in his crib and for the last 15 minutes maybe 20 he has been tossing and turning every which way he can to get comfortable and I'm wondering should I just give up and take him out or continue to let him stay there until he falls asleep or maybe just utilize this time as quiet time.