My kids are still little (6, 5, 4 and 1) I’m sure it evolves as they age.
Grace at meal times.
Sometimes novenas.
Sometimes learning a new prayer as a family or tacking it on the end of mealtime grace. (Usually related to a monthly devotion.)
Sometimes the morning offering.
Lately we have been using YouTube videos to lead family rosaries because the bead tracker means I get interrupted less with questions about what bead we are on.
Spontaneous prayers.
Daily Mass readings while they eat cereal.
Hail Mary’s when we hear sirens
Sign of the Cross when you drive by a Catholic Church.
Eternal rest prayers for the dead.
Litanies of Saints.
Practicing silence.
My family didn’t pray together growing up, so it’s just a lot of trial and error over here.