I am having a hard time

((sigh)) So as we all know babies grow up, right? And my little Lilian is no exception, unfortunately. And as our babies develop and grow we as parents have the responsibility to teach them new things, whether they want to or not. Here is my dilemma, my Lily does not like to sleep through the night, if she's in bed with me she will for the most part, because she'll nurse on and off through out the night. Now this doesn't really bother me too much, but I realize as she is getting older she needs to learn how to sleep on her own, and I need to teach her that she doesn't need me to put her to asleep and stay asleep.
Every now and then I put her in her crib if it's time to sleep and she's tired. I'll make sure that she is completely full and clean and doesn't need a thing. Of course she cries, and I'll check in on her a minute of two after she cries and give her a pacifier and reassure her. After about ten minutes, she is sleeping. But I'm having such a hard time showing her that she can do this on her own. When I hear her cry my heart breaks and I feel like I'm neglecting her. I feel like she is thinking "Why is my mother not coming to me? Did I do something wrong?" I feel so bad. I guess my question is, if I keep going down this path, the path of letting her sleep with me and me coming and picking her up after every cry, will she ever learn? Am I doing the right thing by trying to teach her to soothe herself? I wish I could ask her.
I guess I'll just have to see if this works out, I wish my heart didn't have to break everytime I heard her cry.
Anyways.....here is a picture of Lilian with her puppy duke, it's fuzzy because it's from camera phone. She loves his ears!