How did you go about starting a nap routine for your LO?

I have been going completely unscheduled for naps--I let him sleep when he gives me his sleepy cues. Or I go do things with him in the carrier and he naps on and off. (I am a SAHM so I can be more flexible.)

If possible, I would like to start up a more regular routine based on the clock but I don't even know where to start.

His night time sleep in based on the clock, with a little wiggle room depending on his sleepy cues.

He is 6 months old.

When did you implement a nap schedule? How did you do it?