Honestly, just tummy time on the floor, maybe carpet rather than tiles or floorboards because they can get more traction! And bare feet or grip socks (you know, the socks that have grip on the soles eg Bonds).
Don't put him on a pillow because he won't be able to move easily. My two both used to manouevre themselves around on circles on their tummy, then gradually figured out how to "commando crawl" backwards and forwards, and then started doing "proper" crawling.
Just you watch him improve over the next couple of weeks. It is so much fun to see how quickly they start getting the idea. You can't really teach him to crawl, he just needs the time on the floor to build up his strength and he needs to learn how to coordinate his little body.
He'll do it without help, don't worry. It's a very natural process.


I'm scared to leave him like that, because he might not get enough air.
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He likes it well enough, but gets fussy real quick. But I'll get down eye-level with him and see if that works better. 
Spare my knees

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