Ideally, it's best to start brushing your dog's teeth when he's young, but even if you've never brushed your adult dog's teeth, it's not too late. The key is to start slowly.
Start with your finger instead of a toothbrush, and rub your dog's gums and teeth. If your pooch is hesitant, dip your finger in something flavorful first, such as beef broth.
Begin either with the upper or lower jaw. Start in the front of the mouth and move to the back. Repeat the process on the alternate jaw. As your dog gets used to your finger, gradually introduce a toothbrush -- or use an interim step of your finger wrapped in gauze.
Choose a pet-specific toothbrush with a long handle or, for small dogs, use a finger toothbrush. Hold the toothbrush so you're brushing at a 45-degree angle where the gum and tooth surface meet, and brush in a circular motion.
The total process should take only a few minutes.