Hope my ideas help....

When DD was younger like 6 months old we did this night routine-
Dinner
Bath
Walk
Into her room and read the same two books each night
BF then bed gradually putting her to bed more awake each night until she was wide awake after her feed into bed.

Now she's 18 mths old she wants me to put her straight into bed I hardly get a cuddle now the best thing we ever did was put a few books in her bed, so she reads before she falls asleep then when she wakes up and she loves the time to herself.

I don't think theres anything wrong with your bub crying in their cot if your there with them patting, singing or something. Sometimes they need to cry to just let out some energy and wind down before falling asleep.

Good luck - it will happen!