We transitioned from rocking/cuddling to lying down cuddling in our bed after that we then went to her lying next to me in our bed, then we moved to having DD's bed next to ours (at 2 years by then). After that we waited till she asked for her own space at 4yrs and I now lie down with her in her room till she falls asleep at night.
I never taught my son to sleep by himself. He just figured it out himself. He grew out of feeding to sleep, so I rocked him. then he got too heavy so I lay down with him. then he was happy with my just sitting nearby. Then he was fine with us reading him some books and kissing him good night.
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