I normally do tummy time for baby after their bath where they feel more alert and happy. For young babies, about 5-10mins will be sufficient. If your baby seems to be contented to be placed on tummy, you can extend the session longer than 10minutes. Avoid placing them on tummy time after a full milk feed as will cause vomiting. You can purchase this tummytime pillow for your LO http://www.amazon.com/Boppy-Pillow-Honeybee-Discontinued-Manufacturer/dp/B00AIVN8EQ Alternatively you can just use a rolled towel and place under baby's arm for him to feel more comfortable, as shown in the picture.
I started tummy time on my son when he was about 3 plus weeks for short period of times before he started wailing. He was on for about 5 to 10 minutes each time for about 3 times a day. This would gradually increase slowly whenever he allows it. Like Diana mentioned, it's probably best to do tummy time about an hour after he has had his feed otherwise he'll just vomit and leave a mess on both the mat and on himself. Sometimes if he gets cranky too quick, I'll lie down and let him lie on my chest. This way I get to rest too since he wasn't as wriggly as he is now at 7.5 months
My friend started out with just two to three minutes for her two-month old. She tries to have tummy time two to three times a day. Sometimes, she simply places her baby on top of her chest for a short while. Now her baby can last for a slightly longer period of time (around 10 mins) and is also showing more interest in trying to reach the things around her as she lift up her head to look around.
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