It’s better to start tummy time as soon as possible. As baby arrives home after the birth, make tummy time the part of his daily routine. However start with just 1-2 minutes at a time and do it for several times a day. Then gradually increase the time up to 30 minutes a day.
Don’t lie down on the floor at start. Start their tummy time by lying them on your lap on their tummy. Then after some time, when baby becomes little bit strong, then start tummy time by lying on the rug or on a carpeted floor.