They are legal under the State laws, and cannot be presecuted for truancy. I have scanned both pages of the R4 affidavit to give you a sample of how it should be filled out. Of course, change the information to be correct for your family. Here are small, filled out scans of the two pages of the R4. Click on the images to get full-sized versions for easier viewing, if you do not have a copy of the form in front of you.
Some parts always bring forth questions.
I have written another article about doing this. Type of School Coeducational Put this even if you have all boys or all girls. You may decide to form co-operative classes in your home with children of both sexes. You could have more children. This leaves the option open.