yesh, you just put them in a chair (or in our case, sit them on a large towel in the middle of the room (DD scratches when she's strapped in))
put chunks of food in front of them.
wait.
in theory, for the first couple of months, they'll just play with the food. they'll put it into their mouths and suck, or they'll try to chew it.
sometimes they'll eat it.
sometimes, it's okay to pick up the food and put it in front of them, to see if they'll grab for it - DD tends to then open her mouth to grab for it, rather than use her hand. it's frustrating, but she's lazy! 
definitely let them snaffle food from your plate - that's good. DD loves to grab my food while I'm eating it. (like she knows it's safe!)
She's only really got the hang of helping herself to food over the last month or so - before then, she'd eat it if I held it to her, but now she'll happily sit and grab it all and shove it in her mouth.
new tastes, she won't help herself to - she'll wait until I put it to her mouth, then if she likes it, she'll grab it off me and eat it herself.
in the morning, I sit her down with a bowl containing a couple of things (usually a home-made savoury muffin and some fruit), and she'll eat it while I'm washing/dressing.
keep giving them their usual milk, as to start with, they won't really know it's food.
(ps - the NHS advocates BLW now)
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