The book Family Worship by Joel Beeke is available in a free pdf which can be sent to your Kindle or read online.
Every church desires growth. Surprisingly few churches, however, seek to promote internal church growth by stressing the need to raise children in covenantal truth. Few seriously grapple with why many adolescents become nominal members with mere notional faith or abandon evangelical truth for unbiblical doctrine and modes of worship.
I believe one major reason for this failure is the lack of stress upon family worship. In many churches and homes family worship is an optional thing, or at most a superficial exercise such as a brief table grace before meals. Consequently, many children grow up with no experience or impression of Christian faith and worship as a daily reality.