Gabriel won't sleep alone!

Gabriel Day Evans was born to us on May 16th. He is wonderful - of
course I think he is the most beautiful child ever born. I can tell he
will have a sweet disposition, he smiles to himself all the time and
though I know they are not "social smiles" I think it means something.
The only problem is he WILL NOT sleep by himself, even if we are in
the room. We have two bassinets, one for our bedroom and one for the
den. Even if he is sound asleep, if I try to put him into one of his
beds, he almost immediately wakes up and wails until someone comes to
get him. This is after he has been fed, changed, burped, etc. I don't
feel right just letting him cry, but I tried to yesterday and he went
on for 5 minutes. I don't believe in "crying it out," and even if I
did, his crying for a long period of time causes a physical response
in my body that is uncomfortable! He sleeps well in a "family bed"
situation, which suits me fine, but my husband is afraid that one of
us will smother him, or that we will never be able to make the
transition in to his crib in his own room. Also, we just need some
time to cuddle and kiss and generally be together and it's hard to do
if a baby is crying! I expected some of this, and don't expect to have
much uninterupted sleep, but jeez, 15 minutes would be nice. What does
everyone else do?