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Were you trying to get him to fall asleep on his own or transition from the RnP to the crib or both?

Don't worry, you didn't fail! The first night is hard! For me, I asked what was harder - hearing him cry for a few nights or continuing to be exhausted to the point of cracking! (We did CIO for sttn). For me, my mental and physical health was dwindling, so as hard as CIO was, the alternative was harder.

I would agree that it might help to first focus on getting back in the crib. Then falling asleep on his own.
If you're already rocking him to sleep, you're not going to "undo" anything. So might as well continue with the rocking (I know, it probably isn't what you want to hear) until he is comfortable in the crib. THEN you should 100% do CIO to get him to fall asleep on his own in the crib.
Then you can tackle the naps in the swing.

I'm not a pro, just did a lot of reading on sleep and I'm borderline obsessed with the topic. I am normally a "let's just rip off the bandaid and do it all at once" kind of girl. But after talking to my ped about a few topics (sleep included) I've realized that changing only one variable at a time is important. If he's screaming and you changed both rock n play AND rocking him to sleep, it's hard to tell what the bigger issue is. and it can be overwhelming for him.

One thing is for sure - I've never heard anyone say that CIO was easy, but the ones who have stuck to their guns have all said that it was worth it and it was shorter lived than they expected. (Meaning the first couple of nights seem fruitless but suddenly the 3rd, 4th, 5th night, the crying decreases and suddenly it's worked )

Anyway, take my advice with a grain of salt, you know your son best! Good luck and keep us updated

My baby is almost 9 months though, so it may be different

I'm sorry that sounds like an awful night I totally for CIO and have tried at various points with my DDs but I also believe that CIO isn't a one size fits all and isn't necessarily this magical solution for everyone. Our DD2 is the type of baby who has never tired herself out with crying. In her worst nights of CIO she has cried hysterically for three hours. Weeks into CIO she would cry for an hour every night until after about 3 weeks of trying we pulled the plug. I just don't think she is the type of kid that CIO works for I hope things get better with your little one but know whatever you do or whatever your LO does, sleep will get better in time and just like other milestones they will sleep through the night and put themselves to sleep at some juncture!