Children are always good in memorizing. My kids started memorizing this poem and maybe you can teach this to your kids too. They can recite it before sleeping or even before they start the day.
GOD IS ALWAYS WITH ME
God is always with me,
Every night and everyday.
God is always with me,
When I eat and when I play.
He's with me when I'm happy,
When I'm scared and when I'm sad.
He's with me when I'm silly,
When I'm sick and when I'm mad.
God is always with me,
And this is why I say,
"Thank You, God, for being with me
Every night and every day."