My DS (6months) has two teeth properly through and a further four just poking through (we're having such a wonderful time!). We are using a baby toothbrush and baby toothpaste, but as he isn't really eating much (BF/ BLW) it's more like a game we play in the bath, where we both have our toothbrushes and I clean my teeth and try to clean his a bit. It usually ends up with him just mouthing his toothbrush, though I do massage on some toothpaste (with a finger) and try to get in a few brushes with his toothbrush before he takes over. I'm hoping that it will develop into automatic and non traumatic toothbrushing as we go along. <crosses fingers>
How old is your DD? DS was 4 months when his first two teeth came through so I found a 'toothbrush' that fit over the tip of my finger so I could squeeze my finger in and give them a brush. When he was around 6 months I moved to a baby tooth brush, I basically get a few seconds brushing in myself before he grabs it off me and starts chewing it!
Weleda do a baby toothpaste which doesn't contain fluoride which I used until he was one, then moved on to a baby toothpaste with a tiny amount of fluoride in.
We used a baby toothbrush and baby toothpaste (just a tiny amount) from the very start, as soon as her first tooth appeared. We did go through a stage of having to force clean DD's teeth but it didn't last long and now at 22mo, DD will happily open her mouth for us to clean her teeth. We clean her teeth and the she has a go with the brush afterwards.