Teaching Our Children to Understand

Our Relief Society Lesson was on April 2012 conference talk by Cheryl A. Esplin entitled Teaching Our Children to Understand.
Our teacher Angela shared some things she did with her family to build a foundation.  She mentioned using  The Book of Mormon for Families and teaching out of the book Teah My Gospel.  I thought those were both great ideas.
In the talk Sister Esplin  said the Lord instructs parents to teach their children to understand the doctorines of repentance, faith, baptism and the gift of the Holy Ghost.
She said, "Teaching our children to understand is more than just imparting information.  It is heping our children get the doctrine into their hearts in a way that it becomes part of their very being and is reflected in tehri attitudes and behavior throughout their lives."
Love that statement but it is a little overwhelming...how do I do that?
Sister Explin goes onto explain  that we must create an atmosphere where our children can feel the influence of the Spirit and then help them recognize what they are feeling.
She says it is important to teach in the context of what they are experiencing at that moment.
To recognize these teachable moments we need to be alert when our child comes to us with a question or a worry.