developmental milestones

I'm not sure if this is a milestone or just a fine motor skill, but my baby doesn't like to use his hands. He is 6 months and my first baby. He has always been like this, like during tummy time, he does the superman pose with his arms outstretched. and even now that he can use his arms to push his chest of the ground, he just switches between pushing himself up and doing the superman. that's not too concerning, but he also doesn't grab for toys or food. He can do it, but most of the time he just reaches for stuff, waves his arms at it, leans forward reaching with his mouth, or just waits for me to grab it and then grabs my hands to pull the toy or food to his mouth. it's this a normal stepping stone towards grabbing things? also could this not wanting to use his arms affect when he starts crawling and other things? Anything I could try to get him to use and and more would be great, thanks mamas!