Is it possible to do it more like the above suggestion? Just thinking, if you can't handle the crying, and you're not entirely comfortable with it, you shouldn't feel pressured into doing it. I only say this because I am learning that people will always tell you what your baby "should" be doing, but you are the mummy and you can just follow your instincts You know what's best for your baby.
There are gentler ways to help a baby get to sleep.
Having said that, my baby cries, somtimes a fair bit before she goes to sleep. She's a lot younger, but even otherwise, I don't think I'd leave her alone to cry. But I let her cry, then comfort her and so on until she's asleep.
Hope you work something out that you are comfortable with.