We started having the same problems with Pip, but it was suggested we don't actually rock him to sleep. Instead, we rock him until he's almost asleep, and put him in his cot while he's still awake, but in that dreamy state.
I think with Pip it was the "I fell asleep HERE and now I'm awake and not HERE I'm - where AM I!!!!!!!! " thing. And he'd always wake up at the end of a sleep cycle. 40mins or so after falling asleep ....
Good luck!


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