When the scholars talk about raising kids they talk about two things. familiarity and leading by example.
When it comes to teaching boys salah, they say start teaching them when they are young. Take him to the masjid. let him see you pray. lead by example. that way it becomes time for them to pray they already are accostomed to it. this creates famiiiarity
When it comes to girls, mothers who raise good daughters have the girls wearing hijab at ages of 4 and 5. they encourage their daughters to wear them. obviously they are still kids. but instead of experimenting with barbie dolls and other nonsense, the girls look at their moms wearing hijab, praying salah, reading quran in the house etc. basically the mother creates the islamic environment in the house alongside the father.
this becomes so familiar that enforcement is not even necessary. alot of dayusin dads and moms do not pray, do not fast, do not teach their kids anything and is it anywonder the kids become qashin in life.
if parents do their jobs right enforcement is not even necessary.
ofcourse..... once in a while you get someone who steps out of line and in that case well
KARBASH!