If you leave your 5mth year old to cry for ten minutes whilst going to sleep?

Would that give anxiety to the baby. ive read several articles about a baby crying themeselves to sleep(my son just would not stop crying and it was time for bed) that it is bad for them, theyll get anxiety . Alot of midwives say that its fine . my son cried himself to sleep..a couple of times. i just worry...