Baby Craddle to Bed

Hi Mummies, How to train your baby from sleeping in baby craddle to sleep on bed ? I have to make my baby sleep in craddle first then , I carry her out to sleep with me on bed at night. As she keeps flipping and moving when I try to pat her on bed , sometimes, it takes me 2 hrs to make her sleep and she still can't sleep . As now she keeps flipping , and she will sit inside the craddle , it's very dangerous . Therefore , I hope I can train her to sleep on bed instead.