For how long did you rock your baby so they could go to sleep

I mean like rocking them to sleep/just cradling them in your arms. If not so long did you do the crying it out method and just let them self soothe or how did you get them used to you not holding them? I need some tips to help my daughter go to sleep without me having to hold her. It doesn't necessarily bother me having to rock her but she's getting heavier and this mama needs a break.

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