For thousands of years, people cleaned their teeth with sticks or charcoal or various leaves. The nylon toothbrush was invested in 1938 and the natural bristle toothbrush was introduced in Europe only a century earlier though it had been used in China for a few hundred years before making its appearance in Europe. There are many videos on how to use the miswak stick, but these seemed the most authentic.
According to cultural traditions, teeth should never be cleaned in the room with the commode. Using a vanity table or even going outdoors to clean would be preferable.