I have the same case as you exactly, except i just have on child :)
I found the following steps are the best:
1- First of all and the most important point, is to let your family understand what you are going to do, and all the info you can give about your start up and how this start up will change things in your "family" life, and let them dream with you, and if they have the skills, it will be great if they can help you in planing and organizing.
2- You must expect the following and never get sad from:
- you need to buy some stuff for your
home.
- your kids needs to sit with you, sometimes in the time you are not
ready for.
- your wife needs to talk with you, in fact needs to hear from you more
than she talks to you.
- your family will need to go out at weekends at least once.
- your family member get depressed for a reason or another and you are
the only one to give them a smile.
I found that no way to survive with these issues without very strong support from my wife.
3- If you don't have a separated place to work from, try to find at least 2 hours per day to work while they are sleeping.
4- Don't forget that you will need the following durring the day:
- at least one hour for reading mails,
RSS feeds and news. "don't let this
exceeds 1 hour per day, you can make
this at the morning before going your
full time job".
- you need to eat well and try to don't miss eating with family at time
as you can.
- sleep well is very important, but try to train your self step by step
to sleep fewer hours, not less 6
continues hours per day.
- give some time before sleep at night to tell your family what you
finished this day "in 5 minutes" and
what you are going to do tomorrow in
your full time job and you start up.
5- If you have 2 days off "as me", try to discuss with your family that you will have one all for you 24 hours and one for them 24 hours.
i will try to think in more points and will add here later....