Help with naps!

My twins girls are only 10 weeks so I understand a routine isn’t going to happen but I’m worried I’m messing things up. Due to my anxiety and PPD, I have struggled from day one with being alone with my girls. I’ve made plans every day to go and be at someone else house so I know I have other hands. However this means the girls have gotten really used to sleeping in the car mainly, or needing some sort of motion to sleep. I will also only walk them in carriers (with additional help) to sleep because they once screamed in the buggy and I had a panic attack. Now I’m more comfortable, I have been trying to get the girls to “go down” for a nap. This is anything from them falling asleep on me and being put down or simply noticing they are tired and placing them in a sleep space. However neither of them will stay asleep - their eyes will open instantly. The only way I’ve managed to get either of them to sleep for long than 10 minutes out of my arms would be when I shake or rock the item they are in. We have also struggled with colic and all sorts. Am I making a bad habit already?! Help.