Hi moljam, we too did a similar thing to peridot30, but when ds was a bit older (think he was about 20mo). That's what worked the best for us then (think he just moved from cot to first bed). I think some people call it the 'gradual withdrawl' technique . Not sure how effective it will be on a 10mo (my dd is 11mo and wouldn't understand it), but anything is worth a try. I did the soothing lullaby's and cuddles in the dark, then into the cot, out of the door. Queue crying, then I go back in 5 mins later and cuddle (maybe shhh's but no singing at this point) until they are calm, back into the cot, crying starts again, no eye contact, leave the room, and then just keep repeating this until they eventually start to understand what you're doing and they feel secure enough (or most likely shattered enough the first few times you do this) to fall asleep by themselves. I don't think we timed 5 mins, just went in when it felt right, could have been every 2-3mins. But I would leave some time to give them a chance to calm down by themselves. I found staying in the room at this age just confused them so I would always leave. But you may find your ds would prefer you to stay and see you and then drop off like peridot suggests.
I do think you need to think beforehand what you're going to do, ie. pickup, not pickup, just pat, or whatever, before you start the process. I used to chop and change with ds and I think it just slowed up the process.
Stick with it. Should take about 3-4 nights with a lo, but longer with a toddler. Let us know how you get on.