Broken heart

It tears open my heart when our son needs his sleep so badly that he'll fall fast asleep in my arms but the moment I put him in his crib, he screams. Most of the time he stops quickly enough. Today though he's still beside himself. Not sure if I sure wait this out or just nap with him at this point. I'm sure the neighbors think I'm torturing or neglecting him at this moment. I can't imagine them NOT hearing him since the windows are open...