I would put him down for naps at the same time everyday. I have a 9 mo old and he was the same way (Mom was ALWAYS holding him) - wouldn't stop crying unless he was held.
Well, he takes 2 naps/day

Morning nap: 9:30-10:30am
Afternoon Nap: 1:00-3:30 pm

I make sure he is all set and safe of course and kept him in there the whole time (even if he cried)

Now he sleeps great at my house. Still doesn't sleep for mom, but sleeps here just fine.

Have him CIO, he will eventually figure out you are not going to hold him. Also, just the crying will tire him out enough, he will eventually fall asleep.

Good Luck!

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