Sleep transition for 10.5 month old

How did you transition from holding your baby to sleep to having them fall asleep in bed?

My baby is 10.5 months old and we co-sleep. He’s bottle-fed and has been falling asleep in my arms since around 6 months, but I’m always sitting down while holding him and sometimes slightly rocking him,singing to him, so there’s no walking around.

He’s generally a pretty good sleeper and falls asleep super easy and quickly, but lately he sometimes seems to want to lie down after his bottle. He’ll squirm in my arms then lie on his tummy in bed and wiggle around, babble etc. It really looks like he’s trying to settle himself but then he notices me and suddenly wants to play. This evening he fell asleep 1 hour past his wake window and poor baby was screaming and crying, fighting me when I wanted to hold him as usual...he eventually fell asleep after I rocked him while walking.

How did you make the transition to falling asleep lying next to you? Did you do it gradually or just put them down and let them figure it out?

I’m not looking to do any sleep training, I just want to gently transition him to falling asleep next to me instead of being held.