When to bring LO to dentist?

Hey ladies, I was wondering when you other mommy's brought your toddlers to the dentist for the first time? How old were they and how did it go? My little one is almost 3 and we brush her teeth before bed every night but haven't brought her to the dentist yet. I asked my husband's dentist what she recommended and she said to wait until your child can sit still for 20 minutes while they check teeth. But I only get like 2 minutes to brush her teeth before she's done with it and I know she won't sit still and cooperate for 20min. So just wondering what everyone else did?