Dentist vs. Pediatric Dentist

So I'm looking for a little advice... I'm feeling terrible about the fact that Luke hasn't been to the dentist yet. He used to be so terrified of the doctor that I'm just afraid its going to be a terrible experience. So the advice I'm looking for is do we go with a Pediatric dentist, or our family dentist? Are the pediatric dentists really better with kids? Who can help?