You can read essays on tefillah from today until tomorrow, but the only real way to inspire your children to pray is through davening yourself. They see which shul you choose, where you sit, how you sit.
That’s what works.
My own father was a minyan person. He took it seriously. The fact that going to shul was such a big part of our lives made it real and exciting to us kids.
Shul was a place to get enthusiastic about, and so we got enthusiastic. ~ R’ Benyamin Yudin