my advice is not to rock the baby to sleep. Your baby is NB, very light, easy to carry n rock. Imagine doing that when he is older n heavier. Worst if you have to do it when he is over 1yr old. Can you imagine the pain you will suffer on your arms n back?
suggest that you can put your baby in the cot, patting it to sleep. If you want to bond with your baby, put him on your bed with you lying beside him, pat him to sleep then transfer him to his cot.