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She started chewing on her tooth brush around 10 months or so.

After bath she sits on the counter and looks in the mirror. First I brush her teeth and then she gets a turn. Her turn is mostly just sucking the water off/chewing on it. We are just now at 20 months really getting her to scrub her teeth.

Because she sucks on it so much we still use fluoride free.

Huh, our dentist said we need to brush DD's teeth until she's 5! She's almost 3 right now, and very independent, so she brushes first, and then we brush he molars and hard to reach places. We still don't use flouride toothpaste with her either, since she drinks flouridated city water. Our dentist said it's better to hold off on the flouride toothpaste until she can for sure spit it all out.

DS is 12 months and we brush his teeth twice a day. Mostly, he just kinda chews on the toothbrush while we move it around his mouth. He uses training toothpaste. I do floss the kids' teeth sometimes, but it's more weekly than daily. To be honest, I know we should do it daily, but flossing is kinda at the bottom of my to do list, so it doesn't happen very often.

@irene: Yes, just look for flouride free. I think we use one thats made by Orajel. Publix, Walmart and BRU carries it.

We still do the cup of milk after she brushes her teeth. Its not good but oh well.

We introduced a brush as soon as he cut teeth just before 4 months old. We just did a quick wiping at the time, but seeing as he had 8 teeth by 8 months, we really had to buckle down and get him used to it. We let him play with the brush and chew on it quite a bit, so I think he like the way it feels anyways. We also use a non-flouride toothpaste so it's safe to swallow.

Now that he's a year old, I usually sit him up on the counter with me, let him watch me brush my teeth, then it's his turn. I make it all very interesting with lots of demonstrating by opening my mouth up wide and then smiling really big to brush the front of my teeth. He's really into imitating me at this point, so we're doing fairly well with this method.

Honestly, to get him interested in things he doesn't love, I really make a big production of it. I talk and make faces in a really animated way and he's tricked into thinking we're having some sort of awesome party.

We use the toddler toothpaste that is ok for ingesting since LO doesn't understand spitting.
We also have an electric toothbrush for LO (probably started him on it around 18 months), and he seems more interested in that than the regular toothbrush, plus I think it does a better job (i.e., even if he just barely moves it around in his mouth, the brush itself does a fair bit of the work). DH also has an electric, so there's the "just like daddy's!" appeal. LO used to HATE teeth brushing but it has gotten a little better- usually he and I brush teeth together, with him kind of half-heartedly brushing his, and then we switch and he brushes my teeth while I get his molars. That seems to work well.

We started going to the dentist at 1 year and DS has checkups and cleanings every 6 months. In the beginning we would have to force him to let us brush his teeth and it slowly got easier. By 2 years he brushes his own teeth but no toothpaste is involved. His dentist said we could use the baby-safe toothpaste but really toothpaste of any sort isn't necessary until DS can control swallowing so the toothpaste doesn't go down. If you choose to use a baby-safe toothpaste however, our dentist said to start with just water and partway through the brushing, add a dab of toothpaste so it isn't such a shock.

our pediatric dentist (we started at 15 or 18 months) recommended that we brush the child's teeth until age 4. We sometimes let DD brush her own teeth but she definitely cannot be trusted to get into all the nooks and crannies, let alone floss. I used to never floss her but recently she complained of tooth pain, and when I took her into to the dentist, he flossed her and got a bunch of stuff out and her gums were bleeding, so she had some inflammation and pain there (whoops!).

@Honeybee: that's exactly what we do. I think it's important that we let her do it first and then we help. We talks lot about cavities and the importance of brushing. We also floss a couple times a week.

With our second daughter we introduced the gummy brush at 4 months and she loves teeth brushing, especially with tom's strawberry toothpaste.