Several years ago we started something in our family that we called "Sunday Night Prayer." During this time we gather as a family and read from the Bible, discuss what we've read and then pray for each other. It has been an important part of my spiritual life and a highlight for me to get to talk and laugh about life and matters of faith with Sue and the boys.
Dr. Joel Beeke has written a resource on Family Worship - explaining why this practice is important and the types of things that could be done during a time of worship together.
Here's a link to a lecture that he gave in 2011 on the topic: http://www.youtube.com/watch?v=0EHJVkzybQs
I found it to be really encouraging.