The attached images show when Primary and Permanent teeth usually erupt as well as when children normally lose their baby teeth. Did you know that incisors, canines (cuspids) and molars are part of both “sets” of teeth you have in your lifetime, but it is only in permanent dentition that you have pre-molars (bicuspids)? These pre-molars take the place of primary molars, and starting around age 6 permanent molars begin to erupt.