The Irish Calvinist has a great post on some of the basics of family worship. These days, family worship has fallen on hard times. This is a shame because the imperative is clear from the Bible –
“Hear, O Israel: The Lord our God, the Lord is one.  You shall love the Lord your God with all your heart and with all your soul and with all your might.  And these words that I command you today shall be on your heart.  You shall teach them diligently to your children, and shall talk of them when you sit in your house, and when you walk by the way, and when you lie down, and when you rise.  You shall bind them as a sign on your hand, and they shall be as frontlets between your eyes.  You shall write them on the doorposts of your house and on your gates.” Deut 6:4-9
Family isn’t just a good idea, it’s God’s plan for the raising of children. Paul is clear that if a father is present, he is to take leadership in teaching his children to love, fear, and serve God –
Fathers, do not provoke your children to anger, but bring them up in the discipline and instruction of the Lord. Eph 6:4
So, scoot over to the Irish Calvinist for some practical advice and check out some of these other resources as at Monergism.com as well.