Sojourn Community Church in Louisville recently published an excellent resource to encourage family worship - Our Home Is Like a Little Church.
This brief book was written to teach preschool children the Christian doctrine of the home as a place of worship where the father teaches his family God's commands and leads them to worship the one true God. The home is the front line of ministry to children—not the Sunday school or public church gathering. All the practices present in a Christian worship service—the Scriptures, prayer, and praise -should be present in the home as well.
Below is a brief video of Bobby Gilles, one of the authors, discussing the book.