Is her grip affecting her writing? If it is, it would be recommended that you try to correct now than later as it may get more difficult to change her gripe once she is used to it. You can refer to these two links for some tips, the first link is an article which provides three tips that you can try, and the second is a video that shows you how you can teach your child to hold the pencil: http://mamaot.com/3-tricks-to-help-kids-learn-to-hold-their-pencil-correctly/ http://www.icanteachmychild.com/correct-pencil-grip/ But again, if your child is comfortable and writing legibly, I would think there is nothing to worry about. So, unless you think it may be an issue in future (e.g., when she needs to write essays or take notes quickly), then it may be better to correct her now. Just my views.
What do you mean by "properly", do you mean the way she grips her pencil? If she can write legibly and steadily, it should be okay. I've been told since young that I was holding the pen or pencil in a wrong way (lateral tripod) but my handwriting didn't suffer and it was comfortable for me. Ignored everyone and I still hold my pens the same way (see picture below).
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