@sharz You're not forming a habit. The habit has been there for 9 months already. The habit has been darkness, mom's heartbeat, food on demand without any effort, low noises and always the perfect temperature and a constant movement in a curled up position. The world outside is loud and cold.
Skin to skin and carrying fires neurons in both brains, meaning it's building new highways in there. In German, humans are called "tragling". Tragen=carrying, ling=small mammal, so a mammal that needs to be carried. We're not "lay-lings". Cribs, prams, strollers, etc are all unknown to evolution. A baby only knows that it'll die of not being carried or close to another human being. Baby doesn't know that we have a roof above our head, a fridge full of food and no predators around. Baby is still in cave mode.
Babies have always been carried and are still carried around the world. Studies have shown that the practice of leaving babies alone creates humans with bonding issues and humans that don't know how to regulate their feeling. Babies that know that they'll get help and have a safe base to return to will develop better, they'll be stronger when meeting new challenges later in life. Crying is their only way of showing their need for help. They don't stop crying because we train them to stop. They stop crying because they know it won't make a difference because no one is coming. Their stress levels are still elevated if not more. The "baby needs to learn to be on its own when sleeping" comes from the old times where soldiers that just listened to orders and were "hard" were needed. That's outdated.
Also: people that say their babies are sleeping independently at that age are lying almost every time.
So, never miss a chance to hold your baby.