17 month old and self settling

Hi everyone!

Just wondering if anyone has some tips to get my 17 month old to self settle. Getting her to sleep at night has become a real chore and can take hours. She doesn't seem able to self settle at all as she can be really tired and in her cot and she just doesn't lay still long enough to fall asleep. We have to rub her back or rock her or take her in the car for a ride to get her to go to sleep. Any tips would be appreciated as it's just getting so tiring. She's often not asleep until 10 which is probably hard on her as well.