i posted about this same thing just a couple of weeks ago - yes, it will get better, Jacob is stilling doing (and chewing the side rails of this cot which is driving me crazy as I had to argue for months about resale value of an expensive cot before we agreed to get it).
Now I just go imn, wordlessly pick him up, lie him down, and firmly say, go to sleep. I might have rpeat this a few times, increaing in intervals, and eventually he stays down and goes to sleep.
Helps if he is actually tired too, not just when I would like him to go to sleep!
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