She has to be passed out dead asleep. So sit with her and get her to sleep, the slowly get up and rock her back to sleep as you quietly walk back to her bed, then make sure she's all the way to sleep (she should be incredibly heavy and not move if you kiss her cheek), then lay her down and rub her back til she goes back to sleep.
Quoting SheciaBaby:
I tried that and no matter how long I stand there and rock her she jumps up
Quoting lnrmom:
Rock her to sleep, then gently lay her down and rub ber back til she falls back to sleep. Lullabies, soft jazz, or classical music playing quietly helps as well.