Brushing baby teeth

My LO has one tooth and just cut the second. A few family and friends said to purchase the baby tooth brush (the rubber one that slides on your finger) and the baby toothpaste it comes with. Admittedly, we haven't been brushing her tooth regularly. Are you brushing your LOs teeth? If so, with what and how often? Should I make a dental appointment even if she has only one and a half teeth?