I think you have to just keep trying. No harm will come to her from crying if you are there with her. Eventually she will calm down and go to sleep without you holding/touching/cuddling her - it might take a while, but she will do it. You can use your voice and encourage her to lie down. Personally I think I would stay in bed, stay lying down, but talk to her and tell her softly to lie down, it's sleep time now. She won't cry forever - it might feel like forever.