Bath, book, song, sleep. Tell DC beforehand that's coming, then do it as calmly and quietly as possible; after the excitement of bath, quieten down and into p-j's/sleepsack (never had them sacks back in the day, great invention!); follow with book (chosen by DC) and song (likewise) whilst on parent's knee, then into cot with a last 'night-night'. Tiptoe away.
That routine worked with my children and they now do it (and I sometimes do too to give them a break) with DGC.
Of course it was never as simple as it sounds and there are times when the routine gets trampled on in one way or another. Nothing's simple with 2-y-o's! Worth persevering to try to get the routine going, though, ime.
I wanted to post this mainly because of my surprise that so far on the thread no-one's mentioned bedtime songs. They're not called lullabies for nothing. A soft rendition of a favourite song works wonders for calming the savage childish breast, even if (and I'm an example of this, sadly) the 'singer' is actually more of a croaker.
And - added delight to come for potential grandparents (who isn't one of those?) - there's nothing quite like hearing, through the walls, your DC singing to their DC a lullaby you sang to them when they were 'that age'. Love it! (And my DC, unlike me, can sing in tune!)