Sing around infants and young children who are just beginning to speak. Pick songs with rhymes, basic word patterns and other toddler-friendly things. Children learn by mimicking and when they are exposed to singing from an early age, as they get older, they'll likely pick up on this behavior. Play CDs and videos with singing and watch your child's response to see what he responds to in a positive way.
Encourage your children to sing along with you or to a recording once they are old enough to talk. Not all young children will sing perfectly in tune, as this is something that may or may not develop over time, depending on the person. Take basic kids' songs slowly, verse by verse so the child begins to learn the words and melody.
Play singing games with the children. Teach them about musical dynamics by having them sing softly, and gradually make the notes louder as they go along. Teach them about pitch by having one child pick a basic pitch and hold the note while the other children listen and try to match it.
Enroll your child in a children's choir at a music school or religious organization. Children's choirs provide a basic introduction to singing as well as the chance to learn music theory, vocal exercises and teamwork. Children's choirs are often grouped based on age, with some accepting kids as young as preschool.
Sign an older child up for voice lessons if singing is something she wishes to pursue. Most experts recommend starting voice lessons between the ages of 13 to 15 and not sooner, to ensure the voice has developed.