Do you have a bouncy chair or cradle swing or anything??? If you do, put her down but stay and rub her tummy and give her a dummy if she will take it. Thats also where c0-sleeping can kinda backfire also if you have a really clingy baby.
I would put some music she likes on, gets her nice and relaxed with a dummy and then set her down, where she can watch you.
I do think babies need some kind of routine... even from the start, which people may not agree with.
But for example... every day when Jasmine gets up we do her change etc, and feed, and then she goes into her bouncy chair while I make and have my breakfast and then make up more bottles/formula etc. I always keep her where she can watch me, we put her music on etc.
Then I pick herup and hold her for awhile or try and play with her, she has her bottle and usually a nap n the morning. So once she falls asleep I have my shower etc.
And then the afternoon we usually watch tv and nap or whatever together.
Evening I do more bottles and make my dinner she she is back in her bouncy chair. And then at some point I give her a bath and then we snuggle on the couch some more until she goes to bed.
There hve been days where I cant set her down either, usually if she is going through a growth spurt.
But they do need to learn some independance from the beginning and setting them down for a half hour or so, they will get used to it.