I use different voices for the different characters and read with expression. Read to them whenever you're waiting. I have been known to read to the kids while at the beach, in restaurants, in airports, and on airplanes. While in public, I read in a whisper, their heads nearly touching mine as they listen. All of us endure waiting.
Reading makes it productive.
Keep reading aloud even when they are older. Even my husband enjoys hearing me read. The children are currently in middle school, but there is something very soothing in having someone tell you a story or read to you, no matter what your age might be. Play books on tape on car trips. We are very fond of car trips in our house, but the trips are more interesting when we listen to books.