Have DH put them down...
Ok, well, when he's not around - I still nurse some, but am trying to transition to less then not at all (for getting to sleep), and what I do is the same that I do at night. For one, my boys just stopped falling asleep for nap or night wit nursing, so at some point I may say "OK, 10 more sips then its nite nite for nursing" or sometimes I just say "nite nite for nursing" and they have been "conditioned" to pop off and turn over/roll off and be still to fall asleep. I will then stay and put my arm over their backs if they want, or just lie there until they are asleep. I started this something like a year ago, so that I could get up at some point... if your dc is not used to this at all you'll probably be met with some resistence, but may only for a few days to a few weeks.
My husband tires them out during the day, then lies down with them in the dark and he says they drop off pretty immediately.