We also, have the Pigeon set of 3 toothbrushes! They're so cute

As soon as DD started getting teeth (9.5mths) we let her play with it and put it in her mouth and chew on it and then we will have a go and brush her teeth however she doesnt like it very much! She wants to be in control and hold it.... lol.....
Usually evenings only we do the teeth time..... but I think I'm going to do mornings aswell now too. Also I have a finger mitt you can put on your fingers and rub their teeth/gums with it, thats easier I find!!