I was recently asked a question along these lines:
What do you do with your family/kids to teach Christ and who He is and who He is for them?
Parts of my Response:
In general, our family worship time looks like singing a hymn, reading or telling a bible story, and then praying together. But the material we’ve used has varied a ton, mostly based on age.
Good resources are helpful and family worship is essential, but when Chris and I talked about it, we both agreed that the times we’ve really seen light bulbs go off and application sink in is in the midst of discipline. We try to view our kids’ sin as an opportunity to teach the gospel. When their misery is potent, they are most ripe to understand the comfort of Christ for them in particular. I also think the many “opportunities” I have every day to ask their forgiveness of me for my sin against them and for them to see me repent to the Lord has been very helpful. Basically, it seems to take lots of talking, asking heart probing questions, modeling, prayer, and patience while we wait for the Spirit to open their eyes and ears. Simple; but not at all easy.