Transitioning milk/formula?

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So I’ve having trouble figuring out how to transition my son at 8 months old from milk/formula to solid foods. Now I know he’s supposed to be drinking primarily milk or formula until the first year. But he’s never drank as much as he’s supposed to, usually around 20 ounces a day. His doctor just kind of scratches his head and weight has been a problem since birth. Meaning, he’s constantly falling behind in his weight and he’s never had a huge gain. So I’m nervous about adding solids (which I do 2 meals a day) because he naturally is wanting to take less milk. Hopefully that makes sense, it’s really stressing me out.