If you're against gadgets, disregard this answer. BUT consider that my son went to the dentist, sat in the chair by himself and didnt cry because he watched the Peppa Pig episode "The Dentist." We allowed him to bring a toy he could hold, just like George.
Reward (or bribing) system really helps most of the time! You can always entice young kids to go to the dentist in exchange for something. Most of the time, it works, but make sure that they won't be spoiled by giving them too much :)
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I found that a reward system, especially for younger kids, is particularly effective. Tell them you're going to give them a treat, say, a toy, if they agree to go to the dentist with you.