Rock to sleep - self-soothing

So I know every sleep training person out there will tell you not to rock baby to sleep and to put them in bed slightly awake.

Welp. I loved rocking my girl to sleep and my husband told me I would be creating a bad habit (still don’t regret it) but now I feel like she’s getting to the point where she’s able to self soothe more. She’s 14 weeks. Wondering if anyone has had success transitioning from always rocking baby to sleep to letting them self soothe. Any tips are welcome 😊