Rushing in late makes it difficult for you to settle into meditation and it disturbs other worshipers. Coming to worship without your Bible is like going out to drive your car without your keys. Singing is not an option. It is a command. Those who violate this command are just as guilty as if they neglected the assembly in the first place.
Worship is enhanced when done as a family.
Family members should know and love each other. Taking notes will help. Follow along in your Bible. It will encourage the speaker, and he will do a better job. It will show non-Christians that we are serious.