ever since I started putting my baby on my chest he cries if he's not being held. I feel like I…

ever since I started putting my baby on my chest he cries if he's not being held. I feel like I can't get anything done because he cries if he's in his swing or crib anymore. should I just let him cry? I need to get up and around... I am literally still in my pj's because of this little guy