We did it gradually. Around 10 months she was trying to flop all around our bed while she was sleeping and was waking every hour because she was frustrated that she didn't have room to move around. I knew that she was ready for her own space. All attempts to put her in her crib before that were a complete failure because she just wasn't ready.
Anyway, I started out by putting her to sleep in her crib. This sometimes took two hours but I did a sort of modified version of pick up/put down where I would have her in her crib and rub her tummy if she was whining/slightly crying. If it turned into a 'real' cry then I would pick her up and nurse her until she calmed down, and then put her back in her crib. And repeat.
Once she did her first stretch of sleep (usually about 3-4 hours) I would bring her into our bed and she'd sleep with us for the rest of the night.
We did that for a couple of weeks and then I started resettling her in her crib after the first waking as well. Again, doing the same thing I did when putting her down initially. After her second waking I brought her into bed. Then gradually started putting her back in her crib after that waking, too.
I can't remember exactly how long it took before she was spending all night in her crib, I think a little over a month. The night wakings really suck when they're in another room and resettling isn't as easy, but if you feel that it's the right time then you'll figure out how to make it work. Good luck!