A question has arisen. The baby falls asleep in a crib (Kazakh cradle)…

A question has arisen. The baby falls asleep in a crib (Kazakh cradle) during daytime naps. He sleeps for 1.5 hours per nap. In total, he has three daytime naps. During nighttime sleep, he also falls asleep in the crib, then I transfer him to my bed when he wakes up. He's gotten used to falling asleep in the crib, rocking. How can we gradually wean him off the crib and rocking? Has anyone else used this old method?