That was our approach with Suzannah as well. Recently, she went through this bout of really not wanting to brush or brush very well or have us help, so we were a little more pushy, but when she was Robin's age we were pretty relaxed.

We STILL don't usually brush in the mornings, though we probably should. But you know, now, at three, she's pretty good at brushing her teeth AND she seems to like it, so...there you go!