I held and rocked DS up until he was 5 months. At that point he got really heavy and I was having back problems so I had to teach him to self settle. On some occasions though when he is really distressed or up set I still rock him in the chair. Close contact not only reassures it sooths.

Go with what your instincts tell you. If we avoided all the potential pitfalls that are out there we would have to not touch our children at all. If it becomes a problem for you down the road you will find a way to deal with it but for now enjoy it i say, its such a precious time in their lives.