Religion says you need to spend a certain amount of time daily in prayer and Bible study while a relationship with the Father will set you free from law. Prayer is simply a conversation with God and does not have to be formal so just have it ongoing throughout your day. God walked with Adam in the cool of the day.
Proverbs 22:6 says to train up a child in the way he should go: and when he is old, he will not depart from it. Include your children in your prayer and devotion time. Even the simplest prayers (i.e. Prayer of Jabez) can bring profound revelation and results. And it will be a great illustration of living life with their Creator.
Finally, it is important to have a sanctuary for when you do need that quiet and alone time. Your prayer closet can be a closet, a porch, or even a bathroom. It can also be a set apart time in an ordinary location such as your favorite chair or the kitchen table in the wee hours before the family arises each morning. If the heart’s intention is not out of ritual but rather from the longing to be with your Lord, you will not miss those hours of sleep.
So, in whatever form it takes today, enjoy time spent with God.