Crib transitioning

Me and my husband co-sleep. I’m aware of all the dangers, we are very careful. My daughter is almost 7 months old, she’s always been a big baby but as she’s gotten older she’s obviously grew lol she’s the squirmiest baby I’ve ever met in my life 😭 and I used to babysit regularly! So we want to transition to a crib but we have no idea how to start. We’ve never been able to get her to sleep without her being held and rocked.

I’m hoping you guys have some tips for us!