There are exceptions, but children aren’t usually ready for private lessons until age 5. Attention span and coordination need to be at a level that is seldom found in students under 5. Your child might be ready for lessons sooner if he or she is reading at a very early age (3 or 4) or is showing enough interest to sit with his or her instrument for over 30 minutes at a time.
To give your kid a head start, there are music classes that are developed for very young students.