One way you can develop a rich relationship with your children is to read stories together. Mums and Dads, get involved! Talk about the issues the characters face… in this way you can get to understand what your children are thinking/feeling, and you get a chance to share your own wisdom. 
This book (Living in Hope), tells the story of Sam, who is falsely accused of stealing, and Frida, who is tricked into becoming a domestic servant… when the children get her home, they throw a ‘prodigal’ party. Inspirational, educational, and great fun!
Living in Hope, and the other two books in the series, are available as paperbacks or as an ebook (available worldwide on the Amazon kindle store). Click on the links for more info, or to buy this lovely book for yourself.