Is your child awake or asleep when you put her in the crib ?
I used to put mine in bed asleep. I like music, so I used to play music and sing aong, holding them until they fell asleep, and sometimes I would hold them by the crib, and bounce and sing songs I loved, until they fell asleep.
Funny moment: I was singing our youngest to sleep one night, and stopped, because i thought she was zonked out, only to hear a voice coming from the next bedroom (our 2nd oldest), "Keep singing, Mommy."
It doesn't really matter what you sing, or perhaps you talk and tell a story if singing isn't your thing, but to have them feel safe and comfortable and hear your voice as they drone off to sleep. Then you can put them in the crib and they have no clue where they are. :-) (My sister used to pick up an arm and watch how quickly it dropped to be sure they were totally "zonked")
If she wakes during the night? Well, you have to choose -- how valuable your bed is to you and how valuable your sleep is? I always opted for kid in the bed and both of us sleeping. And, yes, once a year or so, I end up with a panicked teen in bed with my husband and me, but if the dream was THAT horrible, I wouldn't want them anywhere else. I want them to feel safe, and that their parents are people they can run to when they need to feel safe.
When your baby is older and in a twin bed, you can join her in her bed until she falls back asleep -- that way, you can get back into your own, and that eases the path to them sleeping in their own beds all ( or, in our case, almost) the time. Our youngest girls are just under 2 years apart, and they will from time to time sleep in each others' bed together, for fun, and soemtimes because one of them had a scary thought at bedtime. That doesn't bother me either, as they are both good kids, and it's much nicer to have them sleep with each other than to have one of them crowd us out of our bed !! :-)