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Swaddling is pretty helpful. Although it seems like he might not like it, when you leave their arms free, every time their muscles jerk it's going to wake him up, which is probably what's happening. A tight swaddle with his arms at his side with some rocking should get him calm enough to lay down. If he is able to fight his arms out it usually means the swaddle wasn't done correct. He spent the last trimester of your pregnancy pretty packed in there 24 hours a day, so swaddling reminds them of being back in the uterus, which will help them sleep deeper. White noise is really helpful too.
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