We started at 5 months as DS showed all the signs of being ready. We started really slowly with a few spoonfuls of pear puree once a day to get his stomach used to this. (Pears as they are high fibre fruit) At 5.5 months he suddenly started to wake 2-3 times more at night, so we increased to 2 meals and then 3 meals a mixture of fruit, & veg and added in meat and fish and yoghurt at 6 months. I started mainly with purees, but also gave finger foods very early on to encourage self feeding.
I made big batches of puree and froze them in ice-cube trays. We also used a few shop bought packs for additional variety.
If you are concerned about food allergies then introduce foods in a staggered way (something new every 3-4 days).
He is now 9 months and mostly feeds himself, with just a bit of help from me with yoghurt/runny stuff. He is still having 4 milk feeds per day, 30-60 mins before each meal, plus one before bed. This week I have just swapped his lunchtime milk feed to after his solids and will see how this goes for a week or so. I think he will probably drop a milk feed soon too.
I used this site for ideas on what fruits and veg would be good to try and how to prepare them: http://wholesomebabyfood.momtastic.com/