For the 1st 3 days, he fussed for roughly 10-15mins before he goes to sleep by himself. During the time when he fussed, I told tell him that it's late and he has drank his milk, so it's time for bed. Subsequently after that, he knows that mummy is not going to do anything else to make him sleep, so he would just fall asleep upon touching his bed.
I think babies need time to adapt so perserve the routine that you want your child to follow.
Just my 2 cents worth.