I think it depends on which curriculum you use. We use handwriting without tears, and start introducing cursive at 2nd grade.
I started in first grade. We use Abeka.
We started this year....2nd grade....
When the child is ready. Sorry I can't be more specific, but my oldest was ready in second grade yet my middle will not be ready this coming year. His handwriting is poor and he hasn't gotten the handle on smooth continuous strokes yet.
DD4 just finished Handwriting Without Tears levels Pre-K and K. We are moving into 1st grade now. I purchased the 2nd grade package at the same time and there is an intro to Cursive book that I got along with it. She is already starting to scribble like she's writing in cursive and can read some of it so I'll go at her pace but at the rate she's finishing the books, we may be there by next fall or winter.
We started in 2nd grade, we probably would have started sooner, but this was his first year homeschooling.
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