Tips on getting 6 month old to sleep in crib?

So does anyone have any advice or tips on how to get my 6 month old to sleep in his crib longer than 4 hours at night? Sometimes I will lay him down after he’s had a bath and eaten and already fell asleep about 8:30 and he’ll usually wake up about 12:30 to eat and then he’ll cry when i try to lay him back in his bed so I usually just end up letting him cosleep with me and then he’s up again at 4:30 to eat and wide awake at 6. Any tips on how to let him lay in his crib and soothe hisself back to sleep without crying and screaming bloody murder?