Sleeping in bed with 8 month old

So

My baby is 8 months old and he sleeps in his own crib by our bed. Recently he’ll only calm down for bed if we lay him down with us for a while. He falls asleep almost instantly, but as soon as we pick him up to put him in his crib he wakes up. Can he sleep in bed with us? I’m afraid of SIDS and I know it’s recommended that babies sleep on their own until 12 months. Also I’m afraid that I’ll roll over on him or my husband will