On Sunday mornings, even on the mornings where we are running late, my husband writes down the scripture readings for the liturgy and brings a bible to the car. During the drive to church, he reads the passages and explains them to the children.
By the time our children get in the car for the ride home, they have heard the scripture stories 2-3 times. Once in the car. Once during the liturgy. And, nearly every Sunday, once during Sunday School (granted, this is usually the gospel story).
The result: our children often understand key parts in the homily; our children are prepared for Sunday School and return home really having learned something.
I am very thankful for my husband taking the time and effort to do this. Do try it too!