When our children were growing up and were in school, this is how I prayed with them every day while we were in the car on our way to school.
Father, I thank you that your Word is true concerning our family. I declare that Psalm 91 is true over our lives—that though a thousand may fall at our side and ten thousand at our right hand, no harm, no evil, no sickness, no disease, no pestilence, and no plague shall come near us or our dwelling place.
I thank you for the angels of God assigned to us today. I dispatch them now, to go in front and behind us, to lift us up in their hands so we will not even dash our feet against a stone.
I thank you, Holy Spirit, for being in us today, helping us to study to show ourselves approved unto God, workmen who do not need to be ashamed, rightly dividing the Word of truth. Thank you for success and excellence in all the work of our hands and for bringing back to our memory all that we have studied, read, heard, and learned for your glory. In Jesus' name, AMEN.
I would also recommend that you personalize Psalm 91 and pray it daily over your children and family for their safety and protection. When our children were growing up, this is how I personalized Psalm 91 and prayed it over their lives.
Heavenly Father, I thank you that we dwell in the shelter of the Most High and that we rest in the shadow of the Almighty. We say of you Lord, 'You are our refuge and our fortress, our God, in whom we trust.' I thank you that you save us from the fowler's snare and from the deadly pestilence. I thank you that you cover us with your feathers and under your wings we find refuge. I thank you that we do not fear the terror of night, nor the arrow that flies by day, nor the pestilence that stalks in the darkness, nor the plague that destroys at midday. I thank you that even though a thousand may fall at our side, and ten thousand at our right hand, no harm will come near us or our family. I thank you that we only observe with our eyes and see the punishment of the wicked. I thank you that since we have made you the Most High our dwelling, even you the Lord, our refuge, I thank you no harm will befall us, no disaster will come near our tent. I thank you that you command your angels concerning us, to guard us in all our ways. I thank you that they lift us up in their hands so that we will not even strike our feet against a stone. I thank you that we tread upon the lion and the cobra and that we trample the great lion and the serpent. I thank you that because we love you, you rescue us and protect us, because we acknowledge your Name. I thank you that when we call upon you that you answer us. I thank you that you are with us in trouble. I thank you that with long life you satisfy us and show us your salvation.
Another Psalm you can personalize and pray daily over your life and children is Psalm 103. It's also beneficial to personalize and pray Paul's Ephesian prayers in Ephesians 1:17-23; 2:1-10; 3:14-21.