I'm reading a book by that title, about worshiping as a family. I haven't read it all, so don't take this as a recommendation, but I found this to be excellent insight:
The Meaning of Worship
Worship is not a refueling to get us through another week. Worship is not a time to unwind, relax, tune out or take a mental vacation. Worship is not an hour of Christian entertainment.Worship is the surrender of our souls to a God who is jealous of our attention, time, and love. Worship is a challenge.
The way we define worship has everything to do with how we respond to worship as a family.
If worship is all about us, then we need to have someone else parent our children (or entertain them, as the case may be) while we worship. If worship is all about us, the music has to be a style we like and enjoy, hymns or contemporary praise & worship, dependent on our preferences. If worship is about us, we need to find a pastor who's style we enjoy.
If worship is about God, and not about us at all, then the style of music doesn't matter. It's worship, not a concert. If worship is about God, then we're happy to wipe our children's noses while singing praises to the God who blessed us with those precious children. If worship is about God, it doesn't matter if we like the pastor's preaching style. It only matters if the teaching is biblical.