Chew and Swallow. When the little one is showing the signs and ability to take the thickened paste of foods you make, chew without gagging or choking and swallow without issue. Make sure the pieces are good and small. Don't rush it and make sure that water is handy.
No. Liquid medications are preferable to give infants due to concerns for choking on a chewable tablet. Most children do not reliably take chewable medications until about 2 years of age.