Yes, there are so many resources now for homeschooling. The hardest part for me was finding what curriculum to use. My children just finishied 4th grade and so far it has been easy just to teach from the teacher’s book. As they get more advanced there are CD’s that go along with the programs that will teach the lessons. I don’t know much about those yet, someone with older children could tell you more. Don’t be intimidated by it, it might seem overwhelming at first, but once you start it will be very rewarding.
To prepare them, my advice is to help them understand that there are times when they need to sit and be still. When they are at Mass with you start expecting them to sit and be quiet when they first start being able to move around. Of course they won’t do it perfectly at first, but by the time they are 4 and 5 they will be great at it if you’ve been consistent. At least that was my experience. It will make teaching them much easier if they know there are times for playing and times for listening.