I do think it's important to instill good sleep habits, but at this age, I think it's too young to do anything more than trying to create good routines... we try to do a really specific routine at bedtime and naptime to help encourage her learning that this means it's bedtime.
I try to watch her cues - like she'll do this really tiny yawn, which means she's almost ready for a nap - and if I can get her into naptime within a few minutes, she'll sleep great. If I miss it, then she doesn't sleep so well, because she got overtired.
In other words, I guess my method is just trying to see what her natural inclination is and go with that.
As for rocking - don't worry, most babies need to be rocked to sleep. And when she's three and hops into bed without hardly a cuddle (like my DS did tonight!) you'll wish for the rocking part to come back. I know that's not very helpful, but whenever I worry too much about "habits" (like using a pacifier, or rocking to sleep) I remember what a friend of mine said: They don't go off to university with a pacifier in their mouth. In other words, kids grow out of things.
Over time, I'd just start trying - maybe for one nap a day, or at bedtime every few nights - to lay her down when she's still drowsy, but not asleep, and see how she does with it. If she starts to fuss, give her a cuddle and try again.