Nap time!!

I’m trying to get my sweet almost 5 month old into a nap time routine before I head back to work in August! She will sleep in her crib at night time with no problems (she will fall asleep by herself when I lay her down) I want her to sleep in her crib for nap time but every time I lay her down she screams or if I put her in her bed asleep she will wake up literally 10 min later! She won’t take longer than 30 min naps during the day so we end up taking several baby naps. How can I get her on a routine? Best way for babies to get use to nap time in crib?