Getting baby to sleep in next to me

My 10 week old used to only contact nap and Co-sleep! I’ve been staying at my parents the last couple of days and have managed to move a couple of the daytime naps to the bed or sofa (although I have to hold him close so he thinks I’m holding him). Night he still co-sleeps. How do I transition him over to the next to me/bassinet? He cries every time I even attempt to put him in during day or night! He is a lot better though, first few weeks I’d have to contact nap at night or he’d cry when I’d put him down even in our bed! Then slowly I’d have to lay very close to him in bed for him to fall asleep. Now he has his own space so he’s getting better! Just need to make the next leap of putting him in his own space!