When DD1 was little I realised what a crock it was so we didn't with her. DS I just did what he needed. Both children sleep well and easily now.
DD2 though is a totally different kettle of fish. I started feeding/rocking to sleep but suddenly when she was 9 weeks old she started fighting me off. She lets me know with no uncertainty when she's had enough and prefers to be put in her cradle where she proceeds to put herself to sleep. She doesn't like to co sleep either. If I hadn't had her I would never have believed children did that at all lol.