How to get my baby to fall asleep on his own

My baby has only ever put himself to sleep a few times in the past 8 months. I feel like we have tried every method and nothing is working. If we leave him to long fussing, he gets to the point of no return and screams and I just hate listening to him cry. He has always needed rocked to sleep and if he isn’t he just cries or stays wide awake in his crib until one of us picks him up again. We have tried bedside crib assistance, patting while in the crib, everything, help! I feel like us rocking him to sleep is a habit and we don’t know how to break this! PLEASE HELP.