I think the reason they like to see them on their knees is that then they learn to cross crawl- opposite leg and arm- and this is a good thing for their brain development. Having said that, there are plenty of kids who skip it and they are just fine.
To maybe give you some encouragement, my LO has been much the same. He does this kind of commando thing (actually, looks more like he is swimming with a butterfly stoke), and he's been doing it for about a month and he is only just starting to attempt a proper crawl- and that very occasionally. I thought he might skip it too, but eventually he did seem to want to get on his knees. I think they get so excited about just being able to move that they delight in that sensation for a while before they refine it. There is certainly an incentive for them to "proper" crawl- commando crawling looks like seriously hard work!!!
Oh, I also find that Peter will only try to proper crawl if he's on the rug. On the hardwood floors, not a chance. He just can't get the grip yet!


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