it will take a few days to toughen/strengthen up those arms & underarms!
Yes, washclothes can be used. But we prefer using hand towels to give more cushioning. We also have used fiberfill (for quilting) under the towels!
& for long-term usage, my son relies on armband crutches. He finds them much easier to use. He also has a walker which is a pain, but much easier on his body. (fyi: he was diagnosed at age 6 w/ a degenerative hip disease & just underwent his 1st hip replacement at age 23. He's a pro at medical equipmt!) Good Luck!