Try putting baby on your chest first. Some babies really hate it and get scared, so at least your chest is comforting and they can hear your voice/feel your breathing.
Put baby on the tummy till baby cries for a couple of seconds, then pick baby up. Cradle and talk to baby for a while till baby’s happy again, then you can try repeating the tummy time. Starting with tummy time 2x/day is probably quite manageable.
As baby gets older, increase the duration and use toys/lie down on the surface baby’s on so baby can see your face in order to motivate your LO:)