How do you start to discipline a child under 2?

My son is 20 months now and Is really starting to test me. I don't understand how people with kids under 2 get their child to sit in a time out. My son can barely sit still for 2 seconds so I have just been putting him in his crib without any stuffed toys or his blanket. Then when he is quiet I go and get him and we move on. He literally fights me on everything from what he eats to diaper changes. I am ready to lose my marbles. He doesn't really have a favorite toy yet because he barely plays with his toys. he is happier with empty jugs and rocks so taking toys away doesn't work at this point either. So any suggestions would be most welcome. Also I know a lot of people make their kids say "sorry" after the time out is over but my son hasn't started talking yet but should I still say I want him to say "sorry" anyway even though he doesn't talk yet?