Matthew Henry:

If therefore our houses be houses of the Lord, we shall for that reason love home, reckoning our daily devotion the sweetest of our daily delights; and our family-worship the most valuable of our family-comforts...A church in the house will be a good legacy, nay, it will be a good inheritance, to be left to your children after you.

From Donald Whitney's book Family Worship. For a great resource to help you lead your family in worship, check out the Rizers—fun, original music that helps kids memorize Scripture. Listen to the Rizers here.