When my baby is still young, I used dental wipes for baby such as the brand 'ToothTissue" or Spiffies. 'ToothTissue" is N.P.A. certified, natural, fluoride-free, paraben-free, and contain xylitol. It is recommended that we can clean baby using dental wipes even before the teething to help teeth grow healthily. When baby is older, I use pigeon steps brush (3 steps). Make the brushing a fun activity by singing song.
You can start "training" your child the moment he has teeth or even earlier. There are different starter toothbrushes and the idea is to let them understand the purpose of brushing their teeth. Children love to mimic, so you could brush your teeth together with them. Pigeon has a good range of starter toothbrushes. http://www.pigeon.com.sg/product_uri/oral-care/training-toothbrush/lesson-1-2-3-set/
You can start brushing with toothpaste when they are around 2-3 years. You can actually start using a soft brush even before that when they begin teething. Once they gain control of spitting you can use a little toothpaste.
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Around 2 years is good enough age. But make sure the paste contains flouride which is healthy for the teeth
thanks