The right way to do da'wah in your home is to start with yourself first. You are the first priority in da'wah . Are you being true to yourself. I know, for example, has some seriously unIslamic cultural attitudes or practices which are often right under their noses. And racism and hypocrisy can creep into all of us if we aren't careful.
People know who is real.
Your own children know if you're real or not. Whatever is hidden in the core of your heart will come out loud and clear in their demeanor and attitudes. If your kids are not so good Islamically, be afraid for your own soul. If you're living as a true Muslim, not a perfect one, but a trying one, then everyone sees it in your manners, speech and behavior. You're not yet saying a word to anyone, but you're giving da'wah.