Crawling tips

My daughter is 9 and a half months old (8 months corrected) and has only just started being able to sit on her own, still a little wobbly but she’s more or less got the hang of it. She’s always absolutely hated tummy time, so from the time she was around 6/7 weeks old we didn’t do it very often at all because she would just scream and scream. The past few days when she’s fallen onto her tummy during playtime she hasn’t cried but has been trying to get onto her knees, she doesn’t quite understand that she needs to use her arms to hold her up. Does anyone have any tips on how to help her crawl? Or how to get her to use her arms to hold herself up? I’m now trying to do tummy time again as she doesn’t cry so much at it anymore but I’m worried it’s too late for her to figure it out. Any advice would be greatly appreciated ☺️☺️