What we hear in the Gospels, we see every time parents bring their sons and daughters to the waters
Once baptized, the parents continue to fulfill this holy calling by bringing their sons and daughters to church for the Divine Service and for Sunday school and catechism classes. By bringing them every week to the Divine Service, God's House becomes their familiar home and the place where they know God gives His gifts, sustains His people, and they respond with praise, thanksgiving, prayers, supplications, and offerings. Sunday school and catechism classes do not replace the parents or take over the job of teaching the faith. These educational ministries supplement and support the parents in their own primary vocation toward their children.
I urge parents all the time not to fall into the temptation of thinking intentions substitute for piety, that their children will wake up one morning and want to go to church even though they only went occasionally growing up, or that attending to sports or music or dance or other Sunday diversions does not conflict with their primary purpose and role in bringing their children to Jesus. If we in the Church preach this and parents hear, I have great confidence that this decline can be reversed.