I can understand your situation as we were also facing the same issue a few months back. Whenever I put my baby to sleep he woke up and start crying. He was only used to sleep in my arms. And I was not able to go anywhere due to this. But thanks to one of my friend he suggested me a nursery glider. My baby loves its reclining motion and now they sleep easily. It was made nicely and both mum and baby can sit at the same time. You can try this.
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