You made the decision to allow her to sleep with you and now you are going to have to put some hard work into getting her back to her crib. You may have some tough nights ahead, but you can do it!
You know now that just putting her in her crib and leaving her isn't going to work. She's going to be upset because she doesn't understand why she is back in the crib. She liked sleeping with you guys!
My approach would be to stay in the room with her until she falls asleep. As long as you are with her, I would let her cry all she wants. You need to be firm now. This is your bed, Mommy will stay here with you. Find what calms her down that doesn't involve you holding her, rocking her, laying with her. It could be a hand on her back, it could be patting, it could be rubbing her head, whatever. Probably nothing is going to calm her initially because she doesn't know you are serious yet since you have given in once she cried long enough. If you give in to her crying, she's not going to learn to sleep in her crib. She'll just cry until you give in. I think that when you make the decision to put her back in her own crib, you cannot ever take her into your bed again--not if she cries all night, not if she is sick, not "just this once.
If you can, I would lay her down when she stands up, but if that is a big struggle, I'd just sit in a chair next to her bed and be with her. Don't be surprised if it takes over an hour. It probably will for at least the first day until she knows you mean business.
