I, like many, have struggled with family worship. Sometimes you wonder what you really accomplished. Other times you think you have accomplished a lot, only to later realize that you have completely shot over your children’s heads. Satan can use this to discourage and cause us to give up. I found a post by Dr. Jim Hamilton to be a great encouragement.
Family worship doesn’t have to be complicated, and it doesn’t take someone with a seminary degree to pull it off. In the morning at the breakfast table we work on a memory verse together. In the evenings right before we put the boys in bed we read a passage or two from the Bible, say the Apostles’ Creed, sometimes sing a hymn, then we pray and put them in bed. That’s it. That’s family worship.
Family worship doesn’t have to be complicated, and it doesn’t take someone with a seminary degree to pull it off. In the morning at the breakfast table we work on a 

Yeah, that’s encouraging. It doesn’t have to be a big production. I liked what he did about reading the same passage from the Bible over and over so his kids would memorize it. Abraham Piper inadvertently taught his kid Luke 2 the same way. So we’re trying it with Psalm 23. Carter did not yet have it memorized as of the second reading last night