How can I teach my 13 month old to sleep by himself?

He sleeps in a full size bed (we bought the side railings)...because he does not like his crib. Our night routine is i read to him in the rocking chair while he drinks his milk (out of a sippy cup) once he is done I brush his teeth turn on the lullaby and turn off the lights and sit in my rocker and rock him to sleep. I had to spend the night at my moms the other and and it took him over 2 hours to fall asleep even though he was tired, I tried cuddling, holding him and rocking nothing worked, he is to used to me rocking him in the chair because he falls right asleep when I do that. I'm getting nervous because we are going on vacation in 3 weeks and I dont know how i'm going to get him to sleep for naps and bedtime!!! HELP ME PLEASE!!!!!!