We have five children, now pretty much grown up. We also homeschooled here on the ranch, so I had the kids and the horses here at the house together.
When they were little riding took a back seat. By the time they were older it was easier. One year we had four mares foal out, and the four youngest children were each assigned a foal. Eventually the kids started all four of them.
So, I just sorta dragged the kids along when I rode. We had lots of trail rides and arena time together. Since the horses were in the backyard it was pretty convenient. Not having to go somewhere else to see the horses it what made it work for me. That, and having kids that were willing to learn and be around the horses.