DS2 and DD hated tummy time. I never pushed it and they have developed fine. DD has only just started liking it for a little be as she can now roll onto her tummy only for now and can get a good look at the boys at play. Curiosity will get the better of them end and they will just start to like it all of a sudden. Minimax has given a great tip with the tummy on the chest!
Robyn Barker's Baby Love is a fantastic book, it's very practical.