He used to bf to sleep / back to sleep but it rarely works now. I have to rock him to sleep after bf, which is fine at bedtime as I have a nice rocking chair. In the night though I can't face getting out of bed (we co-sleep) so I rock/bounce him on my chest, which is killing my back. (It only hurts in the morning, which means it doesn't discourage me enough when I'm only half awake in the small hours.)
He wakes once or twice a night. The first is around my bedtime and he goes back off really quickly & easily, but the second waking at around 3/4/5am he wakes up more, gets cross and takes more rocking to get off again. Sometimes I fall asleep myself before rolling him off me, and wake up with a 2.5 stone child still on my chest. 
I don't want to encourage him to drop the first waking as bf'ing him then helps me to go to sleep.
His daytime routine is to wake at roughly 7, nap for 2 hours about 12.30-2.30 and be in bed again by 8.30 / 9pm, although there's quite a bit of variation in bedtime (basically he gets tired about 6.5 hours after waking from his nap).
Anything involving crying isn't an option. I want to continue co-sleeping and don't want to have to get out of bed in the night.
I'm reticent about trying methods of getting him to 'self-settle' at bedtime because (a) we both enjoy the current rocking cuddles, (b) he 'winds up' to bedtime so getting him to stay still on the bed for more than 2 minutes would be difficult and (c) if I put him on the bed awake, he shuffles around on his stomach and rubs his face with his arms. He has bad eczema on his face and rubbing it is one of the main reasons it flares up.
Any ideas?