God desires our worship. He commands it. God trained Israel how to worship and we need to train our children how to worship. Worship is more than just going to church. Worship is for God's glory, not our own benefit.
Worship begins in the heart of the believer.
The longest hour of the week can sometimes be sitting in church with a squirmy toddler or bored adolescent. We can be freed to help our children worship here or we can be concerned about what others are thinking of our parenting skills. Joy is probably not a word many of us would use to describe parenting in the pew. It often distracts us from our own worship. Jesus loves the praise of children.