It sounds to me like you're doing it right! This is all very age-specific, but the underlying principles of allowing kids to practice whatever movement skills are appropriate for their age still remains.

I think too often parents are too eager to 'hurry up' the process, or to 'help' their child to roll over, lift their heads, walk, etc. that the child doesn't gain the benefit of learning how to do the whole movement by themselves, and end up developing a pattern that is lacking.

If you're curious as to what you should be allowing the child to figure out, here's a great chart. They will try and try, and fail and fail...until one day they do it, and then they start to do it very well. Such is life, I guess : )