Even with a soft brush, if you're scrubbing too hard, you're damaging your gums, which could eventually expose roots, causing more serious problems. For the inner tooth surfaces, gently brush using back, forth and rolling motion. Tilt the brush vertically to get behind the teeth, and make several up and down strokes using the front half of the brush. The entire process should take about three to four minutes to complete. And then, there's flossing.
Tooth brushing removes only about half the plaque on the teeth.
I think of it like peanut butter and jelly. You can't have one without the other. The key to developing good oral hygiene is to start early. The American Dental Association suggests that parents begin cleaning their baby's mouth within the first few days after birth. After each meal, wipe the baby's gums with a wet washcloth.