Depends on how old DC is. - Start with baby in sidelying position and encourage reaching out for toys....once they can do it easily from the midway position try from back to front. You can also encourage trunk, stomack and head control which is required in various other positions - seated (even in stroller) etc - hold child and gradually letting DC get used to working against gravity.
In good time they will likley be motivated to go after toys / etc and start moving. Don't worry to much about milestone dates.
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