Oh, I remember those nights so well! Before my daughter was born, I was NOT going to have some spoiled child who slept in my bed. Really! Who would do that! And then my daughter taught me about attachment parenting. I fought for about two weeks to get her to sleep in the bassinet, and then I gave up, because I needed SLEEP!
The only way she slept was on her side with her back against my chest. You might have to not worry as much the routine for a few more weeks and just let him sleep where he will sleep. Do you have a swing? With my daughter, the swing was a good way to get "bedtime" going. I would change her, nurse her, rock her to sleepiness and then tuck her in the swing. She'd fall asleep, and I left her there until I was ready for bed. Or until her next nursing, which was usually my cue to go to bed.
When she was about 6 months old, she would fall asleep on the bed with me beside her, and then I could get up and do whatever I needed. By 9 months, she started to only go to sleep on the bed alone, and, when I got her a toddler bed in my room, she moved to it, no fuss, at around 17 months. She moved into her own room by 2 years, and that was that. I think gradual is the key to good baby sleep habits.
Get "Good Nights" by Dr. Jay Gordon for some other helpful info on good sleeping habits and cosleeping.
One word of weird warning: my youngest son, who is now 15 months, learned to go to sleep in bed from the beginning. He nursed, he crashed, and that was that. The problem? I wasn't always home at his 7 pm bedtime, and he wouldn't sleep anywhere else! LOL he got over that, and now he goes down, in his toddler bed in my room, just after the big (noisy) kids do at 9-ish.
These days of "hold me!" pass faster than they seem at the time. I keep looking at the leggy boy on his own bed and wondering where my snuggly little baby went. Just keep going gently (just like it sounds like you are) and he'll have good sleep habits before you know it :)