Those of you with babies, start now, reading them the Bible every day. Then perhaps you won’t have sixteen year olds telling you what they will and will not participate in!
Of course some of us become Christians when our kids are older. I’d make it non-negotiable, myself. But I suppose some family circumstances differ.
Teens want things. Like cell phones. and computer time. And driving privileges.
So, that can just be contingent on good behavior, which would include family Bible reading, on a regular basis. If they refuse, they’d best see you joyfully and regularly enjoying the word of God so they wonder what they are missing out on.
The parents have to decide if their own “lives” are theirs, or to be used to raise up Godly children. Once you decide that your life is not your own, sacrifices don’t seem so sacrificial.