How to teach little one to settle in cot

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Does anyone have any advice on how to gently teaching my 9 month old to self settle in the cot at bedtime?
Current bedtime routine works. Bath, bottle, bed with me rocking him and playing soothing lullabies, but would like to try self settling, so that if he wakes in the night I can leave him to try and settle before going to him.

Sounds like you are doing a fantastic job so far. We did a very gradual and gentle approach with DS1.

First we rocked to sleep for a couple of nights, then just held, then led with him, then sat next to cot holding him, then sat by cot, then gradually moved out of the room.

Yes it did take a long time but he hardly cried and we were able to go back a step if he was poorly or teething without having to repeat the process again.