Baby teeth falling out

My little guy is now 5 and a half, and his bottom two teeth are loose. He wouldnt even let me take a look. He has been crying alot saying they hurt and wouldnt eat, i dont know what to do. Should i book a dentist? Is this the right age to loose your first teeth? I’m told to wait but he is really not a happy lil guy and i just want to help. Any advice?