K.S.
Hi W.. You didn't say why you wanted them to go to sleep without rocking. Nothing says you have to stop rocking them. Contrary to opinion, babies cannot be spoiled by being held. Unlike thumbsucking or using a paci, or eating solid foods, there's no rules to stick by when it comes to bedtime. With my twins, I snuggled with them and rocked them both at the same time, and yes, until they fell asleep. After they'd fall asleep, I put each in their own cribs in the same room. I work outside the home, so I enjoyed that extra time with them. That said, we had a limit because I did also need time to myself. If they weren't asleep after a certain time, I would put them in their cribs and just let them cry it out.
So if you are really needing or wanting to get them to bed at a certain time, snuggle with them for so long, and then put them to bed. They will cry for a little bit but be just fine.