At about 3 months old, when you baby is able to hold himself up or is steady enough to be propped up, he will also start reaching for objects. Be sure to praise his attempts!
“Yay! You tried to touch the ball!” “Wooho! You reached for your toy!”
By praising the attempts you are doing 2 important things: 1) by encouraging all the little steps you are encouraging your baby to keep trying until he finally does the one big task of actually grasping the object; and 2) you are instilling pride. Baby is proud of himself because you are proud of him. Eventually he will copy your excitement and will be clapping and cheering for himself.