Start going to church is the best way. They have kids programs that teach them about God and then practice and pray at home with your kids and show them the Bible and that it is God's word.
The very best thing I did was wake up one morning, told my husband I was going to church with the kids, "do you want to go" I asked, he said no you go ahead, I took the kids and haven't missed a Sunday since. It's been five years. Sometimes religion is overwhelming and it's hard to get started kinda like scrapbooking, where do I start - I have so many pictures! The bible and God are the same way, there is so much information and getting started is the hard part. My husband never went to church with us. My kids were a boy 2 years, a girl 4 years and another girl 5 years. They love church and God now and still ask good questions that are hard to answer, like my son asks who is God's dad. But it is baby steps we take in following our almighty God. You can do it and the church and you can teach your kids about God's family.