Checkout these tips from moms on children worshipping at church written by Jason Helopoulos, featured on Kevin DeYoung's blog.
Another great resource, on the topic of worshipping God together with your kids at home is the book, Family Worship by Donald S. Whitney.
And these words that I command you today shall be on your heart.You shall teach them diligently to your children, and shall talk of them when you sit in your house, and when you walk by the way, and when you lie down, and when you rise. Deuteronomy 6:6,7 ESV
Now, if you're beginning to feel "GUILT" over these topics (like I am) read this other encouraging post by DeYoung. God's grace is so good and it covers sooo much.
He will tend his flock like a shepherd;
he will gather the lambs in his arms;
he will carry them in his bosom,
and gently lead those that are with young.
Isaiah 40:11 ESV