Help with baby's sleeping habits 😬

My baby is 3 weeks old and lately we've been letting him sleep in bed with us because it is literally the ONLY way he will sleep and I couldn't handle getting 2 hours or less each night anymore. Let me add he has to be held somehow, not just near us. We really want to start putting him in his crib or something but it is impossible to get him to sleep and I'm up every 20 minutes with him. Any tips? Advice? I don't want co sleeping to become a habit of his but I don't know what else to do so that I can get some sleep 😞