Yes, it is the right thing to do. Usually the age at which children meet dentists is much younger than fourteen and nine! In fact, my youngest granddaughter met the dentist for the first time when she was about a year old.
You'd do well to ask the parents of your children's friends for the name of a good dentist, and make appointments for your daughters. They'll be checked for cavities and for gum disease, and they'll also get a more thorough cleaning than they can do at home, which is very helpful a couple of times a year. If some work needs to be done, there will be expense involved, but less expense (in the long run) than letting the problems go and waiting until later.
When you find a DDS you like, you might ask about a dental plan. It's not exactly insurance, but it's similar. Our dentist has one that we subscribe to, and it makes the overall cost much more manageable.