WBSB, you haven't failed him at all! I have seen how you are with him and it is obvious you love him and he loves you!!

I agree with the ladies above. Patting, stroking and shushing should help as he knows you are there but gives him the opportunity to settle. Maybe set up a bed in his room so you can sleep in there once he wakes up and he can see/hear you breathing. That might help send him off to sleep as well.

Good luck