My two kids are also good examples of gentle settling techniques. Both of mine were rocked to sleep at first, then soothed and settled in their cots with back rubs, pats, gentle touches on their faces as they got a little older (and heavier!) Now, if they both go to bed without any trouble at 7pm. Sometimes they still do come into our bed, but it's usually if they have a nightmare or feel unwell and they need some extra comfort.