Try a baby carrier it lets u hold her but also lets u do other stuff they sell them at target and Walmart for $20

@pikapal, thank you , Thant sounds like it will help

My daughter is like that because my husband's family have her in arms everytime they see her. So what I do is that I lie her down but put a blanket on both side of her tummy, as to make her feel she's being held

My mom told me that she had that problem with me but that the way she got me over it is she would still do things while having me with her but i would be in my stroller close to her. Idk if itll be effective but if you can maybe try that or something similar?

try putting your baby down and letting your baby cry. I have too but when my baby cries loud no way I try comforting him