re: Driving my baby around till he falls asleep

You feed them, put on a clean diaper, wrap them up and put them in their bed. If you pick them up every time they cry, what are they going to do? Cry.
If they are crying, you definitely go check on them. But sometimes you have to put them back in the bed while they are still crying. They will eventually tire out and go to sleep.
Hardest thing to do I know.
And you will look back in just a few years and say where did the time go. Enjoy every second of that time with your children. It passes by very very quickly.