Amr bin Shu'aib reported on his father's authority day his grandfather (May Allah be pleased wit him) said:Messenger of Allah(ﷺ)said"Command ur children2perform Salat (prayer)when they are 7years old,$ beat them 4it when they are 10 $ do not let(boys$girls)sleep 2geda.
Abu Dawud
The Messenger of Allaah (peace and blessings of Allaah be upon him) said: "The most superior prayer of a person is in his home, except for obligatory prayers." [al-Bukhari and Muslim]
Narrated Ibn Mas`ud:The Prophet (ﷺ) used to take care of us in preaching by selecting a suitable time, so that we might not get bored. (He abstained from pestering us with sermons and knowledge all the time).
Sahih al-Bukhari 68 Book 3, Hadith 10