She's brand new. You don't have to worry about it. The nurse in the hospital gave me a hard time 6 HOURS after I had my son. Told me I'd be miserable forever if I ever let him fall asleep on me and that I needed to let him fall asleep in his crib. I ignored her.
DS spent the first 2 months sleeping on my chest at night and transitioned to sleeping in his room on his own with no issues. He only took naps when DH or I held him until he was 9 months old. Then he transitioned to napping in his room with no issues. And you know what I have? A million happy memories of my warm, happy baby asleep on me. Which keep me going now that my lunatic toddler can't sit still for more than 12 seconds :)