How can I teach my baby to self-soothe?

keep practicing. Start between the ages of 3-6mo and begin by developing a consistent routine around nap and bedtime. Keep the lights low, nurse until baby is drowsy, sing a few quiet songs and put baby in crib before they are asleep. You can use a pacifier if it seems to help your baby. Try comforting sounds like white noise in their bedroom. With practice pretty soon they will be able to soothe themselves.