I used a wet washcloth to wipe down my daughter's gums before her teeth were out (before she began taking solids, when I remembered; after she began taking solids, after each solid meal). Then I continued to do the same when her front teeth came (before nap/bedtime and/or after meals). Once her molars came in, that's when I began using a wet toothbrush (before nap/bedtime and also after she had something acidic like oranges or a sweet snack) plus I also use a wetcloth for her front teeth because sometimes it's hard to get my daughter to say "eeeeee".
I use the Oral-B soft bristle toothbrush that has Winnie the Pooh characters on them. Other "soft" bristle toothbrushes I tried were not that soft. I think using soft bristle toothbrushes will prevent receding gumlines. Also, in the beginning, toothpaste is unnecessary according my pediatrician. My daughter is 21 months old and we still use just water.
I DESPISE going to the dentist and having dental procedures done even if it's just for a filling. Actually, I hate going to the denist to just get cleaning every six months. So I try to make sure my daughter has good teeth so she won't have to go through them (as much). Plus, we all get one set of teeth to last us a lifetime so I'm pretty strict about dental hygiene. The condition of baby teeth has an effect on the permanent teeth!