So you have a baby that won't fall asleep without you holding it? Well I have a tip for you. While he/she is still young it's ok to hold them so go on pick them up and rock, bounce, sing, or whatever it is that you do to get them to sleep. Then when they are actually asleep, fully asleep not this half awake half asleep thing keep holding them for another 10-15 minutes then lay them down in their crib or bassinet. They should stay asleep. I've done it, it works!
You're welcome :)