how do i get my baby to sleep in his own bed?

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My 5 1/2mo son sleeps with me at night. I bought him his own crib and everything but i cant get him to sleep in it. He sleeps in his car seat no problem. But his crib... he screams as soon as hes laid down. I watched dr phil the other day and an expert said not to allow a baby cry himself to sleep to get used to being in his crib.. due to exsessive crying it can lead to damage - But how do i get my darlin adorable little man to sleep in his own bed without it being a huge hassle? It doesnt bother me right now but eventually i will want my own bed to myself