Co sleeping to crib transition

Hello! We currently sleep with our 14-month-old and want to start having him sleep in a crib. I'm reading a book called Precious Little Sleep and want to try a method called the "swap method." Before, I used to rock or pat my child to sleep, but now I'm trying to let him fall asleep on their own with me just being there for support. However, my child keeps moving around and wants to sleep really close to me. I want to avoid crying-it-out (CIO) and am wondering if anyone has successfully used the swap method after co-sleeping and has any tips to share. TIA!