To do this, I have learned that all of the small moments count. I take my kids to school often, and pick them up often. I have learned that these few minutes in the car are the perfect opportunity to talk to them. There are no distractions, and we can just talk. I try to make dinner time like this too. Dinner seems to go really fast in my house. By the time dinner is ready, the kids are at the table and we eat in like five or 10 minutes. These few minutes are another great opportunity to talk.
My children often laugh at me during dinner because I ask very random questions. One of my favorite things to do is to ask each person to tell one thing that happened to them during the day. Sometimes I ask for a funny thing, a serious thing or something else. I usually try to make the question very specific because it usually results in a better conversation. You can take advantage of these moments too just by realizing that they do not happen near enough.