It depends where on the scale you lie - from "gentle, take your time" up to "sleep in the cot all night asap"
It might help if I explain the reason for the importance of going to sleep in the place they stay asleep.
In the first 3-4 months of life, baby's sleep is passive, as it was in the womb. It isn't in cycles, it is just the case that as long as all needs are met then baby's passive state is asleep.
From around 4 months sleep matures to be more adult-like, in the it develops into cycles of deep sleep and light sleep. Awake is now the passive state and going to sleep is an active endeavour.
Why do humans sleep in cycles and not just stay in a deep sleep? It is evolutionary from caveman times. Humans needed to be safe from predictors, even when asleep. So they developed cycles of lighter sleep between deep sleep. The light sleep phase allows for an "environment check", a semi-concious check that all is well before going back into a deep sleep.
In adults that environment check may just be a shuffle around, turning over, pulling the duvet up. It's when you're sort-of-awake-enough to do something, but not awake enough to properly be aware.
Now imagine you went to sleep in bed as normal, go to shuffle position between sleep cycles and suddenly realise you are no longer in bed, you are now in the back seat of a car. You would not just move positions and go back to sleep. You'd pretty calm quick be dealing out, thinking WTF happened and be wide awake very suddenly. That is exactly what the light sleeping environment check is for. Most times you don't notice it, but when something happens you are awake.
This is why it's important that if you want baby to sleep in the cot, they need to be fully aware of going to sleep in the cot. If they go to sleep in your arms then in the light sleep phase they will be awake and freaking out very quickly thinking "Where's mummy!? I was in Mummys arms, where am I? What us happening!?!"
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So anyway, all that explained, if you want baby to sleep in the cot, it is very important that they go to sleep in there. If they don't, expect wake ups.
You can teach that quickly with lots of crying. Or you can teach is slowly with less crying. But either way baby needs to learn. Just depends how vital it is for you for baby to sleep without waking in the cot.
(Worth noting as an aside, that if baby goes to sleep next to you, ie cosleeping, and stays there without moving to the cot. Then chances are they will wake much less frequently then if moved to the cot while a sleep. Because the environment checks won't cause alarm. So if the ultimate aim here is less wake ups, then longer term cosleeping might be the answer)