bed time routine

My husband and I feel so guilty about having our son sleep in his crib. He's 1&1/2. We have a routine of taking him a bath then he goes down in his crib and sometimes in the middle of the night he cries for us to get him, which we do. We all need our sleep and we bring him to the bed. But we feel guilty about having him fall asleep in his crib. He cries every time he knows it's time to go in his crib, just because he's doing what baby's do & he wants mommy & daddy which is obviously normal. But my husband and I do need our alone time, so that's why we gave our son a routine from the day he came home from the hospital. But lately for some reason, we've just been feeling guilty for putting him in his crib. Just venting