Family worship is that daily, scheduled activity of the home when the father (where the father is absent or unable, the head-of-the-home) calls together all who dwell therein for a time of focused Bible reading, prayer and singing.
The apostle Paul, to the church at Ephesus, instructed; “Fathers, do not provoke your children to anger, but bring them up in the discipline and instruction of the Lord.” Ephesians 6:4
Moses instructed the people of Israel, regarding God’s commandments; “You shall teach them diligently to your children, and shall talk of them when you sit in your house, and when you walk by the way, and when you lie down, and when you rise. You shall bind them as a sign on your hand, and they shall be as frontlets between your eyes. You shall write them on the doorposts of your house and on your gates.” Deuteronomy 6:7-9
Regarding family worship, Matthew Henry warned; “…if you have not a church in your house, it is to be feared Satan will have a seat there.”