Think your DC is young, but you could make a start.
I fed DD on demand and just kept her with me in a sling when she was very little - she didn't want to be on her own.
But about 2.5 months she started to be happy to nap in the moses basket, so I would put her down in there once she fell asleep on me.
In the evenings at about 3 months I started doing bath, then BF, then nightclothes and sleeping bag, and then putting her in her moses basket with her dummy at our feet in the sitting room (while we watched TV). She would have screamed if we had left her awake alone in our room!
Gradually she got used to that and then when the time seemed right (probably 5 months) carried on with bath, nightclothes, BF but put her down in the moses basket in her cot. After a few weeks of that, we ditched the basket and she went straight in the cot.
We did it round about the same time so at 6 months she did have a sort of routine - she would be asleep by about 8pm and then wake for a night time feed when we went to bed (her cot was right next to our bed as she was still feeding at night).
It's baby steps really and your DC is still very small, although you can start the basics of a routine. DD is 13 months now and its only really in the last 6 weeks that we do our bath, jamas, story, milk thing and then I put her down awake in her cot and say goodnight darling and close the door with her still awake and babbling to herself but not screaming/upset. She usually sleeps through (but not always, grr!)
Dont think you need to worry about leaving it too late - everyone thinks there is some magic window and if you don't act within it your DC is going to be horrendous at bedtime for evermore. Easy to say with hindsight but it isn't like that. Obv you need to make bedtimes calm and relaxed and model some sort of routine so that your baby can start to get used to it - and obvioulsy if you are always totally chaotic that would not be conducive to good sleeping habits. But I think provided you give them the basic framework, they'll do it when they are ready! (Like every other aspect of development, as I have discovered!)