It's going to be hard work, so the first decision to make is just how important it is to 'solve' this issue.
Many parents just choose to embrace the fact that they will need cuddle baby to sleep and so lets baby sleep on them in the daytime and co-sleep at night. This is perfectly OK if you are happy with it, so don't feel compelled to change anything.
If you have reached the 'something must be done' point then frankly it's going to be hard and involve distress to change what has become her sleep trigger (rocking). Best plan would be just to bite the bullet and get on with it.
I cannot agree with just leaving baby to cry alone at this age, but you could be there with baby, sporting and caring through the distress while teaching her to lie down herself to sleep.
Make sure she is fed, has clean nappy and is tired. Then try and give her as many alternates for comfort as possible (comfort toy selection, dummy, anything that she might accept as a comforter). Then lie her down in the cot and try not to pick her up again. Each time she stands have a line you repeat - for example "we lie down to sleep. Sleep time now, shush". Then just stay there with her, hand firmly on her chest maybe patting for reassurance, or shushing. She'll probably scream but if you stick with it and are consistent, it should work in the end.