Martyn Lloyd-Jones:

If you love your children; if you would bring down the blessing of heaven upon your families; if you would have your children make their houses the receptacles of religion when they set up in life for themselves; if you would have religion survive in this place, and be conveyed from age to age; if you would deliver your own souls—I beseech, I entreat, I charge you to begin and continue the worship of God in your families from this day to the close of your lives... Consider family religion not merely as a duty imposed by authority, but as your greatest privilege granted by divine grace.

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.