Were they full term? Babies should be able to do it, at least momentarily, by 3 months (adjust the age if they were preemies). Most can do it pretty well by that age. One of my twins was still struggling with holding his head at almost 6 months (4 months adjusted), and this was considered a pretty significant delay. With aggressive therapy (basically, lots of tummy time), he finally developed those muscles and other developmental milestones have taken off from there.
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