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I wrapped him then gave him a cuddle for a minute so he felt calm and happy, then I put him in his cot and put his dummy in
This is what I do with DS too. If he gets upset, I pick him up and give him a cuddle. If he is just grizzling (and you will know the difference) I let him go for a while before I go in. Teaching a baby to self settle doesn't mean leaving them to cry themselves to sleep. I've never done that with either of mine and they both eventually learnt (well DS is still learning!) to settle themselves off to sleep. It can be hard work while they are learning it, but it certainly makes life a lot easier down the track when you can pop them in their cot and they just go off to sleep without any help from you.