Our DD didn't self settle until not that long ago, prior to that though we were able to pop her in her cot/bassinett and settle her off to sleep. We would rock her til she was sleepy, then lay her down (she liked being swaddled) and then one of us would sit next to her and usually give her a pat and hum or sing a lullably. So it wasn't self settling but it was going off in her bed, not in our arms, itms? I used to always sit and watch her for a few minutes in case she stirred and would just start humming etc to settle her back off. Worked 95% of the time, but it took months before she now is actually going off on her own, and that's only because she found this amazing thing called a thumb to suck on!

Good luck