I brush ZoE's teeth every night before bed, when I brush mine
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I started putting my fingers in her mouth as soon as I got her as a pup, (as well as touching her feet & ears) to get her used to it. Then I did exactly as Crystal suggests, I put toothpaste on my finger and ran my fingers along her teeth every night for a week or so, then I introduced the brush with the same toothpaste. I'm so glad that I did, cos now ZoE just has all her adult teeth and hopefully we'll be able to keep them in great shape with daily maintenance.