How long should I wait beforing transitioning my baby to her crib?

My daughter is 8 weeks old and will only sleep with my husband and I in our bed at night. We have a binet as well next to the bed but she prefers the human contact and even holds me through the night. During the day she will sleep on the boppy when it's around me, in my arms, in her bouncer or her swing but not her pack 'n play or her crib. I know that at this age the human contact is essential but how long should I wait before having her sleep (or letting her cry) in her crib?