Definitely fine to wait till 6 months!
Milk first from this age - they will get more nutrition from milk at this age than from solids, and I wouldn't expect your baby to drop milk feeds for some time yet. It varies of course, but generally speaking babies get most of their nutrition from milk till 12 months. If you follow your baby's lead, you'll find they will decide when they want to replace milk with solids and make that switch to real food.
Are you interested in reading about baby-led solids at all? It's a good way to folllow your baby's lead and let them set the pace in terms of what, when and how much they eat. Basically, you make food available and they eat it, if they want to. It's a lot easier than cooking separate meals and pureeing