I read related books to my kid and make it as casual conversations about teeth health and dentist. Make everything sounded it's a normal activity. My kid never cried even once at her dentist office. She actually loves her dentist. Basically, as parents you have to give the kid confidence - nothing to be scared of it. I often joke with her "don't bite down your dentist's fingers..." she going to her dentist office with her dad and she seems like that a lot.
Good luck!
