Help!! How do you put your 6 month old to sleep?

My 6 month old has been very difficult to put to sleep. Without a swaddle, he doesn’t sleep, but when we put on a swaddle, he fights it. My husband and I have to take turns rocking him up and down in our arms. We are becoming very tired and frustrated. My question is how do you all put your 6 month old to sleep? How do you wrap them, how do you put them to sleep? I’m after a side by side swing but can’t find any that are recommended for putting a baby to sleep.

Please note I wouldn’t leave my baby in a swing to sleep, just to help make him sleepy.