Both baby teeth (deciduous or milk teeth) and permanent teeth have fairly well-defined times of eruption. The ages listed are the normal ages that a baby tooth emerges. UPPER. ERUPTS BY. LOWER. ERUPTS BY. Central incisor. 8-10 Mo. Central incisor. 6-9 Mo. Lateral incisor. 8-10 Mo. Lateral incisor. 15-21 Mo. Canine (Cuspid. 16-20 Mo. Canine (Cuspid. 15-21 Mo. First molar. 15-21 Mo. First molar. 15-21 Mo. Second molar. 20-24 Mo. Second molar. 20-24 Mo.