Learning to swim

Does anybody out there have any good advice/tips on how to encourage a reluctant 6 year old with ASD/dyspraxia/sensory processing disorder to swim?  We are going on a summer holiday with easy access to pool so I thought this would be better than the local pool which is very hot/noisy.  I have no interest in forcing the matter but in an ideal world (?!?) would like him to learn for safety sake if nothing else. 

This is probably a stupid thing to say, but I don't want him to feel too self conscious when he sees that the other kids at the pool are able to do it when he can't.  I don't want his confidence knocked any more than it is already. 

Now I'm asking if it's even worth it???  Perhaps I should just let him splash about in the little pool if he wants to.  Any thoughts?

Thank you!

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