I did it often, but not for long because DS wasn't a fan. Whenever we put him down some where, be it for a nappy change, playtime or whatever we'd give tummy time a shot. For the longest time it only lasted 10 or 15 seconds, before he got upset, but as time went by he would tolerate it for longer and longer.

The one thing that I found made it more comfortable for DS was to roll up a blanket and put it under his chest with his arms over it (kinda like if you were lying on your tummy and resting on your elbows).