In this short video Dr. Whitney (from Southern Seminary) shares about how he did family worship with his kids growing up. It’s simple and therefore, easily reproducible.
And may I just add this word of wisdom for those of you who feel utterly defeated when you hear the words “family worship”: if you’re doing anything, just simply open a copy of God’s word and begin reading the Bible to your kids. In fact, that’s really the gist of what we read about in Deut 6. Moses’ words are a prescription to keep God’s truth before them, when they sit, walk, run and lay down (i.e. all the time).
Pray for grace and wisdom.