I am surprised that ho my 2 mo baby easily understand she is on lap and on floor.... because whenever we keep on her floor within 10-15 second she start feeling discomfort and cries louder?

A. very common that during initial few months the child gets comfortable sleep only in the armds of the caretaker and when you shift to bed the child might start crying. this is fine and normal and usually improve with age. you can use swadling technique as well as cradle sleep to improve the sleedp cycle of the child