The most meaningful connection that a child never forgets is one where parents and family spend a lot of time with them and actively participate in their daily routine. It does not matter what you do but spending the time with them is key. In fact, the little things are more memorable than say a family vacation to Hawaii. Kids want to spend time with you, they want your attention, they want you to listen to them and if you do these, they will remember.

You can surely do a few activities as a routine with them. For example, I pick up my kids from daycare every day and my kids know that they will expect daddy to come pick them up. They love that while my wife drops them in the morning.