I never asked, I just used my mum's razor and tore great chunks out of my shin. I was probably in year 5.
I would just wait until your daughter has issues and go from there, and definitely consider whatever other hair removal techniques are available especially for the moustache.
I have an over-zealous bikini line and growing up I always got terrible ingrown hairs when I shaved making shaving almost pointless, so I gave up swimming in my teen years through early 20s. I would not like the same experience for my daughter. I'll endeavour to help her any way I can when the time comes.
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