J.F.
The American Dental Association recommends the first dental visit 6 months after the appearance of the first tooth (most often means first visit around 12 months).
I highly recommend a pediatric dentist. They are used to dealing with the fears and geared to little ones. They actually have additional schooling beyond regular dentists. Our pedi dentist also showed us some really neat tricks for getting our daughter's teeth clean. One thing she showed us was for my husband & I to sit knee-to-knee, daughter's legs wrapped around one of us, her head in the lap of the other... the person who has her head does the brushing, the person with the legs holds the hands/head (whatever is needed). Plus she showed us where to put our finger in her mouth to keep it open while we brushed. I'll admit there were tears, but I'll take those over cavitites!
Our pedi dentist recommends the Oral B stage 1 toothbrush and "trainer" toothpaste (i.e., no fluoride) until your child is 2, and then she had us switch a to using fluoride toothpaste (kids toothpaste is the same as adults, just they're made with kid-friendly flavors).